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Simulation and control of a hip actu...

Sood, Gaurav.

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Simulation and control of a hip actuated robotic model for the study of human standing posture.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Simulation and control of a hip actuated robotic model for the study of human standing posture./
作者:	Sood, Gaurav.
面頁冊數:	60 p.
附註:	Source: Masters Abstracts International, Volume: 46-03, page: 1674.
Contained By:	Masters Abstracts International46-03.
標題:	Engineering, Electronics and Electrical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR32622
ISBN:	9780494326220

Simulation and control of a hip actuated robotic model for the study of human standing posture.
Sood, Gaurav.

Simulation and control of a hip actuated robotic model for the study of human standing posture. - 60 p.

Source: Masters Abstracts International, Volume: 46-03, page: 1674.

Thesis (M.Eng.)--McGill University (Canada), 2007.

The second part of the thesis includes the investigation of two simplified models of the robot. Results using linear state feedback control are presented. The two models used are compared to clarify the use of one over the other.

ISBN: 9780494326220Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Simulation and control of a hip actuated robotic model for the study of human standing posture.
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245 1 0 $a Simulation and control of a hip actuated robotic model for the study of human standing posture.
300 $a 60 p.
500 $a Source: Masters Abstracts International, Volume: 46-03, page: 1674.
502 $a Thesis (M.Eng.)--McGill University (Canada), 2007.
520 $a The second part of the thesis includes the investigation of two simplified models of the robot. Results using linear state feedback control are presented. The two models used are compared to clarify the use of one over the other.
520 $a Human stance in quiet mode, relies on feedback from eyes, skin, muscles and the inner ear and the control produced is a combination of strategies which enable a person to stay standing. This thesis presents the simulation and control of a hip actuated robotic model of human standing posture.
520 $a The first part of the thesis is devoted to recalling basic elements of the human balance system and to describe the balance strategies it uses to maintain an upright stance. Of the strategies presented, we consider the hip strategy which motivated the formulation of a hip actuated robot. An investigation into the control of nonlinear underactuated robots by linear controllers is done to verify the range and efficiency of the controlled system.
520 $a We found that for linear controls, the size of the region of convergence decreased underactuated systems of increasing complexity. For our four degrees of freedom robot, the region of convergence is of 2.3 degrees for the actuated joints and of 1 degree for the unactuated joints. Our system is Lyapunov stable when the fully simplified model is assumed.
590 $a School code: 0781.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Robotics. $3 1018454
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710 2 $a McGill University (Canada). $3 1018122
773 0 $t Masters Abstracts International $g 46-03.
790 $a 0781
791 $a M.Eng.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR32622