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Linear quadratic regulator control o...

Leines, Matthew Thomas.

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Linear quadratic regulator control of an under actuated five-degree-of-freedom planar biped walking robot.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Linear quadratic regulator control of an under actuated five-degree-of-freedom planar biped walking robot./
作者:	Leines, Matthew Thomas.
面頁冊數:	116 p.
附註:	Source: Masters Abstracts International, Volume: 49-02, page: .
Contained By:	Masters Abstracts International49-02.
標題:	Engineering, Electronics and Electrical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1482578
ISBN:	9781124274041

Linear quadratic regulator control of an under actuated five-degree-of-freedom planar biped walking robot.
Leines, Matthew Thomas.

Linear quadratic regulator control of an under actuated five-degree-of-freedom planar biped walking robot. - 116 p.

Source: Masters Abstracts International, Volume: 49-02, page: .

Thesis (M.S.)--University of Minnesota, 2010.

Modern robotic systems are fully actuated with full information of themselves and their immediate surroundings. If faced with a failure or damage, robotic systems cannot function properly and can quickly damage themselves. A Linear Quadratic Regulator (LQR) control system is proposed to allow an under actuated (damaged) robotic system (five-degrees-of-freedom, planar, biped, walking robot) to continue to follow a human-like walking gait in a series of Matlab and Simulink simulations. The proposed LQR controller keeps joint position errors to below 4 degrees for the fully actuated system, performing the entire gait within the given step time and length. The under actuated control system can match the fully actuated system using a separate LQR controller. Use of time-varying control and Markovian jump methods can compile both controllers into a dynamically adaptive whole, capable of full to partial gait during both locked joint and free joint failures with brakes applied as needed.

ISBN: 9781124274041Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Linear quadratic regulator control of an under actuated five-degree-of-freedom planar biped walking robot.
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