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Mechanics motivated control and desi...

Stanford University.

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Mechanics motivated control and design of biped running.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Mechanics motivated control and design of biped running./
作者:	Abdallah, Muhammad E.
面頁冊數:	99 p.
附註:	Adviser: Kenneth J. Waldron.
Contained By:	Dissertation Abstracts International68-06B.
標題:	Engineering, Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3267450
ISBN:	9780549061304

Mechanics motivated control and design of biped running.
Abdallah, Muhammad E.

Mechanics motivated control and design of biped running. - 99 p.

Adviser: Kenneth J. Waldron.

Thesis (Ph.D.)--Stanford University, 2007.

This study facilitates the implementation of truly dynamic running by addressing both the control and design of a biped robot. An analysis of the mechanics of running is presented, followed by control strategies and design models that are motivated by the mechanics.

ISBN: 9780549061304Subjects--Topical Terms:

1018454
Engineering, Robotics.

Mechanics motivated control and design of biped running.
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245 1 0 $a Mechanics motivated control and design of biped running.
300 $a 99 p.
500 $a Adviser: Kenneth J. Waldron.
500 $a Source: Dissertation Abstracts International, Volume: 68-06, Section: B, page: 4108.
502 $a Thesis (Ph.D.)--Stanford University, 2007.
520 $a This study facilitates the implementation of truly dynamic running by addressing both the control and design of a biped robot. An analysis of the mechanics of running is presented, followed by control strategies and design models that are motivated by the mechanics.
520 $a A tractable model of the mechanics of running is presented through principles, measures, and a time-distributed representation of the stance phase. The Steady-State Index is proposed as a characterization of biped running. It identifies and relates the parameters affecting running and has broad applicability to both biological and robotic systems.
520 $a We present a simple, heuristic control strategy that is applicable to articulated legged robots. The strategy is conducive to real-time, highly dynamic implementation and can accommodate diverse configurations and diverse actuation systems. The mechanics model motivates the control strategy and provides the basis for its scalability. The strategy consists of a simple set of three rules, where the key rule considers the leg-length upon liftoff. This rule offers a simple control for both steady-state and accelerated running. The strategy was verified in simulation, where it was tested extensively on both telescoping and articulated bipeds.
520 $a In support of the design process, analytical models are presented for two aspects of running: the duty factor (DF) of the gait and the stiffness value of the leg. For a given running speed, an optimal DF exists that minimizes the energy expenditure. Based on a model of the energetics, we present a formula for the optimal DF. This formula is validated by both human data and simulation results. In addition, a model is presented for the stiffness value of the leg as a function of the physical properties, speed, and DF. The Gait Resonance Point is proposed as a design target for compliant running. At this point, the gait matches the spring resonance and the stiffness value becomes independent of the DF.
590 $a School code: 0212.
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710 2 $a Stanford University. $3 754827
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