TPinokio Biped A more than 30 DoF mid-size bipedal robot, design for research and edutainment. This website presents the work done in designing and building of a modular based mid-size bipedal...
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Humanoid Robot TPinokio - Home | tpinokio.com Reviews
https://tpinokio.com
TPinokio Biped A more than 30 DoF mid-size bipedal robot, design for research and edutainment. This website presents the work done in designing and building of a modular based mid-size bipedal...
tpinokio.com
Humanoid Robot TPinokio - Home
http://www.tpinokio.com/index.html
A more than 30 DoF mid-size bipedal robot, design for research and edutainment. This website presents the work done in designing and building of a modular based mid-size bipedal humanoid robot, we name it. Compact modular joint design. Can be easily modeled as ‘multi-point-mass’ system. Robust mechanical structure for easy maintenance. Zero backlash, easy interface and user friendly GUI. Mid-size human-like robot for research and education. Passive toe joint to achieve smoother walking gait.
Kinematics - Humanoid Robot TPinokio
http://www.tpinokio.com/kinematics.html
Some of the key design concepts and features of TPinokio are:. A mid-size human-like body with 55 Degree of Freedom (DoF) revolute actuators. A modular-joint design which will lead to the robot to have simple kinematics and the body structure can then be easily modelled as a multiple point- mass system. A set of uncomplicated kinematics and dynamics models of the robot that are simpler to implement mathematically and also are easier to simulate using MATLAB software programs. Multi-body Point Mass Model.
Simulation - Humanoid Robot TPinokio
http://www.tpinokio.com/simulation.html
Foot sensors ZMP tracking. Augmented AMPC Vs Preview control. AMPC Vs Preview control. Optimal Gait control block diagramme. LIPM discrete time PZ plot. Waterbed' overshoot effect caused by the zero outside unity circle. Test on physical robot. More to be uploaded soon, testing in progress.
Publications - Humanoid Robot TPinokio
http://www.tpinokio.com/publications.html
1] T C. Wee, A. Astolfi, M. Xie, Modular Joint Design of a TPINOKIO Bipedal Robot, ICINCO 2011. pp.185-190. 2] TC Wee, A. Astolfi, M. Xie, Modular-Joint Design for Efficient Walking and Modeling of a Bipedal Robot TPinokio, CLAWAR 2011. 3] T C. Wee, A. Astolfi, M. Xie , Control of Bipedal Robot (TPinokio) with Augmented Model Predictive Control and Inverted Pendulum Method, ICECS 2012, pp.2781-2784. Nonlinear and Adaptive Control with Applications. Web link article (click on the title to view file) :.
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Humanoid Robot TPinokio - Home
A more than 30 DoF mid-size bipedal robot, design for research and edutainment. This website presents the work done in designing and building of a modular based mid-size bipedal humanoid robot, we name it. Compact modular joint design. Can be easily modeled as ‘multi-point-mass’ system. Robust mechanical structure for easy maintenance. Zero backlash, easy interface and user friendly GUI. Mid-size human-like robot for research and education. Passive toe joint to achieve smoother walking gait.
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TP's Inside Track - What's Happening
TP's Inside Track - What's Happening. Thursday, June 29, 2006. Victoria TP Systems Golf Tournament. You are invited to the annual Victoria TP Systems Golf Tournament. Thursday, July 13, 2006 4:00pm. Prospect Lake Golf Course. 4633 Prospect Lake Rd. Dinner and prizes to follow at Prospect Lake Golf Course Clubhouse. Please RSVP by July 7th and indicate your dinner choice of chicken, salmon or steak as well as whether you are a beginner, intermediate or experienced golfer. Posted by TP Systems @ 9:37 AM.
