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A study of bipedal robot walking on ...

Huang, Jian.

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A study of bipedal robot walking on flat ground and staircase.

Record Type:	Electronic resources : Monograph/item
Title/Author:	A study of bipedal robot walking on flat ground and staircase./
Author:	Huang, Jian.
Description:	79 p.
Notes:	Source: Masters Abstracts International, Volume: 52-06.
Contained By:	Masters Abstracts International52-06(E).
Subject:	Robotics. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1554646
ISBN:	9781303857522

A study of bipedal robot walking on flat ground and staircase.
Huang, Jian.

A study of bipedal robot walking on flat ground and staircase. - 79 p.

Source: Masters Abstracts International, Volume: 52-06.

Thesis (M.S.M.E.)--University of Delaware, 2014.

Compared with traditional means of locomotion, like wheels, which require con- tinuous contact with the locomotion surface, legged locomotion has big advantage that it has discontinuous contact with the ground, which enable the bipedal robot to handle rough terrain easily. However, despite decades of progress, the bipedal robot locomo- tion is still far from achieving the elegant motions observed in human walking. In this thesis, an underactuated five-link planar bipedal robot is modeled to walk on flat ground, upstairs, downstairs, and the transitions between different modes of locomo- tion, which has "natural" walking gaits similar to human walking. Lagrange method is used to derive the mathematical equations of the dynamics model. The complete model of the bipedal robot walking, which is a nonlinear system with impulse effects, consists of a continuous stance phase model and a discrete instantaneous impact phase model. By imposing holonomic constraints to the bipedal robot, continuous controller is developed which can force the bipedal robot state to evolve in the Zero Dynamics Surface as desired. The method of Poincare map is used to determine the existence and local stability of the fixed points of periodic walking gaits. Finally, in order to realize a smooth switching of the bipedal robot walking from one mode of locomotion to another one, a transition step and the corresponded controller are designed between the two modes of locomotion.

ISBN: 9781303857522Subjects--Topical Terms:

519753
Robotics.

A study of bipedal robot walking on flat ground and staircase.
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005 20151221141511.5
008 170521s2014 ||||||||||||||||| ||eng d
020 $a 9781303857522
035 $a (MiAaPQ)AAI1554646
035 $a AAI1554646
040 $a MiAaPQ $c MiAaPQ
100 1 $a Huang, Jian. $3 1271330
245 1 2 $a A study of bipedal robot walking on flat ground and staircase.
300 $a 79 p.
500 $a Source: Masters Abstracts International, Volume: 52-06.
500 $a Adviser: Ioannis Poulakakis.
502 $a Thesis (M.S.M.E.)--University of Delaware, 2014.
520 $a Compared with traditional means of locomotion, like wheels, which require con- tinuous contact with the locomotion surface, legged locomotion has big advantage that it has discontinuous contact with the ground, which enable the bipedal robot to handle rough terrain easily. However, despite decades of progress, the bipedal robot locomo- tion is still far from achieving the elegant motions observed in human walking. In this thesis, an underactuated five-link planar bipedal robot is modeled to walk on flat ground, upstairs, downstairs, and the transitions between different modes of locomo- tion, which has "natural" walking gaits similar to human walking. Lagrange method is used to derive the mathematical equations of the dynamics model. The complete model of the bipedal robot walking, which is a nonlinear system with impulse effects, consists of a continuous stance phase model and a discrete instantaneous impact phase model. By imposing holonomic constraints to the bipedal robot, continuous controller is developed which can force the bipedal robot state to evolve in the Zero Dynamics Surface as desired. The method of Poincare map is used to determine the existence and local stability of the fixed points of periodic walking gaits. Finally, in order to realize a smooth switching of the bipedal robot walking from one mode of locomotion to another one, a transition step and the corresponded controller are designed between the two modes of locomotion.
590 $a School code: 0060.
650 4 $a Robotics. $3 519753
690 $a 0771
710 2 $a University of Delaware. $b Department of Mechanical Engineering. $3 1023760
773 0 $t Masters Abstracts International $g 52-06(E).
790 $a 0060
791 $a M.S.M.E.
792 $a 2014
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1554646