東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

Reduced order modeling of legged loc...

Wickramasuriya, Gamika Arun.

FindBook

Google Book

Amazon

博客來

Reduced order modeling of legged locomotion in the horizontal plane.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Reduced order modeling of legged locomotion in the horizontal plane./
作者:	Wickramasuriya, Gamika Arun.
面頁冊數:	130 p.
附註:	Source: Dissertation Abstracts International, Volume: 71-03, Section: B, page: 2008.
Contained By:	Dissertation Abstracts International71-03B.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3401203
ISBN:	9781109683332

Reduced order modeling of legged locomotion in the horizontal plane.
Wickramasuriya, Gamika Arun.

Reduced order modeling of legged locomotion in the horizontal plane. - 130 p.

Source: Dissertation Abstracts International, Volume: 71-03, Section: B, page: 2008.

Thesis (Ph.D.)--Oregon State University, 2010.

Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner over complex terrain, a feat that has yet to be equaled by man-made legged robots. Recent experimental results suggest that these insects may employ a hierarchical control structure, in which locomotion performance emerges from a combination of insect structure and leg function, which is only augmented by neural reflexes in the presence of large or persistent disturbances. In this study, we utilize a previously developed reduced order model for lateral plane locomotion and extend it by developing leg positioning and actuation strategies that are consistent with insect leg function evidenced in experiments. We examine improvements in locomotion performance obtained by utilizing these strategies in terms of gait stability and robustness to external perturbations, such as those that might be encountered when running over rough terrain. Leg positioning strategies examined include leg angle control based upon previous leg angles and leg recirculation strategies that prescribe, in a feedforward manner, the motion of the leg as it swings from its lift-off to touch-down positions. Both these protocols provide control authority in re-orienting system momentum and are shown to improve gait stability and robustness to external perturbations. While the original reduced order template models leg dynamics by an energy-conserving spring, we incorporate energetic variations through leg actuation that varies the force-free leg length during the stance phase while preserving qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating leg actuation in conjunction with the leg positioning strategies produces completely asymptotically stable gaits in body coordinates. Locomotion performance of the resulting model is subsequently analyzed by computing the basin of stability of our model in response to energetic perturbations of the type experimentally implemented on running, sprawled-posture insects.

ISBN: 9781109683332Subjects--Topical Terms:

783786
Engineering, Mechanical.

Reduced order modeling of legged locomotion in the horizontal plane.
LDR:02969nam 2200277 4500 001 1405094
005 20111206130359.5
008 130515s2010 ||||||||||||||||| ||eng d
020 $a 9781109683332
035 $a (UMI)AAI3401203
035 $a AAI3401203
040 $a UMI $c UMI
100 1 $a Wickramasuriya, Gamika Arun. $3 1684448
245 1 0 $a Reduced order modeling of legged locomotion in the horizontal plane.
300 $a 130 p.
500 $a Source: Dissertation Abstracts International, Volume: 71-03, Section: B, page: 2008.
500 $a Adviser: John Schmitt.
502 $a Thesis (Ph.D.)--Oregon State University, 2010.
520 $a Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner over complex terrain, a feat that has yet to be equaled by man-made legged robots. Recent experimental results suggest that these insects may employ a hierarchical control structure, in which locomotion performance emerges from a combination of insect structure and leg function, which is only augmented by neural reflexes in the presence of large or persistent disturbances. In this study, we utilize a previously developed reduced order model for lateral plane locomotion and extend it by developing leg positioning and actuation strategies that are consistent with insect leg function evidenced in experiments. We examine improvements in locomotion performance obtained by utilizing these strategies in terms of gait stability and robustness to external perturbations, such as those that might be encountered when running over rough terrain. Leg positioning strategies examined include leg angle control based upon previous leg angles and leg recirculation strategies that prescribe, in a feedforward manner, the motion of the leg as it swings from its lift-off to touch-down positions. Both these protocols provide control authority in re-orienting system momentum and are shown to improve gait stability and robustness to external perturbations. While the original reduced order template models leg dynamics by an energy-conserving spring, we incorporate energetic variations through leg actuation that varies the force-free leg length during the stance phase while preserving qualitatively correct force and velocity profiles. In contrast to the partially asymptotically stable gaits identified in previous analyses, incorporating leg actuation in conjunction with the leg positioning strategies produces completely asymptotically stable gaits in body coordinates. Locomotion performance of the resulting model is subsequently analyzed by computing the basin of stability of our model in response to energetic perturbations of the type experimentally implemented on running, sprawled-posture insects.
590 $a School code: 0172.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0548
690 $a 0771
710 2 $a Oregon State University. $3 625720
773 0 $t Dissertation Abstracts International $g 71-03B.
790 1 0 $a Schmitt, John, $e advisor
790 $a 0172
791 $a Ph.D.
792 $a 2010
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3401203