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1 Journal of Achievements in Materials and Manufacturing Engineering

1 2006

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Determination of kinematic parameters of a passive bipedal walking robot moving on a declined surface by image processing

Bagheri A., Alitavoli M., Hajiloo A., Basiri S., Asadi H.

Journal of Achievements in Materials and Manufacturing Engineering

2006

Vol. 16, nr 1-2

94--100

Purpose: This paper describes the design and manufacturing of the mechanisms that are able to move on a slope according to its gravity. Design/methodology/approach: After presenting the governing equations and the dynamics of the robot, a computer simulation is developed. A comparison between the results from the physical model and the results from the numerical simulation is done to check the validity of the project. Findings: This robot is able to move down on slope with a minimum tangent based on the gravity and without any controller or any supplier. Research limitations/implications: Image processing has blind nodes in some frames and can not determine node positions and at this paper a method for getting rid of that problem has been developed. Position accuracy depends on ability of processing unit. Practical implications: This method could be used for finding of kinematic parameters of each manipulator while moving. Originality/value: This paper describes a method for finding kinematic parameters of a passive robot by image processing.