Date of Award

Spring 3-2009

Document Type


Degree Name

Bachelor Degree


Computer Science

First Advisor

Peter Kopacek




This thesis was developed in collaboration with Univ.Prof.Dipl.-Ing.Dr.Dr.h.c.mult. Peter Kopacek and Msc. Artan Dermaku and boosted the creation of the Humanoid Robotics Laboratory of UBT, at University for Business and Technology in Prishtina. ( ).

The main objective of the Humanoid Robot, for the time being, is to develop a

humanoid robot able to make complex motions like walking, running and jumping through real-time feedback control techniques.

This exposition presents a Linear Quadratic Regulator (LQR) controller for the simulation and control of the humanoid robot. Also our objective during programming the robot was to make him able improving military skills into it like, making pushups, saluting, walking through line without having problems, make turns in case of danger zones and unlike positions which would make him think and feel the danger.

Another important improvement during programming was idea to make him defend himself in case of touching him, make sensors feel the hand and react in those cases.

This thesis is divided in co-work and it’s divided into two places: 1. Movement Patterns of Bioloid by Jeton Ahmeti (chapter 2, chapter 3) 1 2. Programming of Movement patters of Bioloid by Faton Bekteshi