東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Development of a hip actuated contro...

Morgan, Eric.

Linked to FindBook

Google Book

Amazon

博客來

Development of a hip actuated controller to be used in passive walking robots.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Development of a hip actuated controller to be used in passive walking robots./
Author:	Morgan, Eric.
Description:	47 p.
Notes:	Source: Masters Abstracts International, Volume: 43-05, page: 1799.
Contained By:	Masters Abstracts International43-05.
Subject:	Engineering, Mechanical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1425615
ISBN:	9780496987146

Development of a hip actuated controller to be used in passive walking robots.
Morgan, Eric.

Development of a hip actuated controller to be used in passive walking robots. - 47 p.

Source: Masters Abstracts International, Volume: 43-05, page: 1799.

Thesis (M.S.M.E.)--Southern Methodist University, 2005.

This thesis discusses the application of using pneumatic force actuators at the hips of a five link robotic system to provide a controllable input torque. The goal of this research is to provide a base to build upon to eventually produce a "active" biped walking robot that utilizes the benefits of the passive walking cycle.

ISBN: 9780496987146Subjects--Topical Terms:

783786
Engineering, Mechanical.

Development of a hip actuated controller to be used in passive walking robots.
LDR:01822nmm 2200289 4500 001 1820609
005 20061114130302.5
008 130610s2005 eng d
020 $a 9780496987146
035 $a (UnM)AAI1425615
035 $a AAI1425615
040 $a UnM $c UnM
100 1 $a Morgan, Eric. $3 862695
245 1 0 $a Development of a hip actuated controller to be used in passive walking robots.
300 $a 47 p.
500 $a Source: Masters Abstracts International, Volume: 43-05, page: 1799.
500 $a Adviser: Yildirim Hurmuzlu.
502 $a Thesis (M.S.M.E.)--Southern Methodist University, 2005.
520 $a This thesis discusses the application of using pneumatic force actuators at the hips of a five link robotic system to provide a controllable input torque. The goal of this research is to provide a base to build upon to eventually produce a "active" biped walking robot that utilizes the benefits of the passive walking cycle.
520 $a A reduced order mathematical model of the system consisting of the pneumatic proportional valve and actuators is utilized in designing the force controller. The model takes into account tube links, valve friction, piston friction, and valve mechanics. The five link robot is also modeled including moments of inertia, masses, and centers of mass in order to design the trajectory controller. The mathematical models provide the equations necessary to develop the nonlinear control laws based on Sliding Mode Control Theory for both the force and trajectory controller. (Abstract shortened by UMI.)
590 $a School code: 0210.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Artificial Intelligence. $3 769149
690 $a 0548
690 $a 0800
710 2 0 $a Southern Methodist University. $3 1024930
773 0 $t Masters Abstracts International $g 43-05.
790 1 0 $a Hurmuzlu, Yildirim, $e advisor
790 $a 0210
791 $a M.S.M.E.
792 $a 2005
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1425615