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

Dynamics and control of collision of...

Chen, Zengshi.

FindBook

Google Book

Amazon

博客來

Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object./
作者:	Chen, Zengshi.
面頁冊數:	207 p.
附註:	Adviser: Hooshang Hemami.
Contained By:	Dissertation Abstracts International67-08B.
標題:	Engineering, Electronics and Electrical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3230911
ISBN:	9780542823350

Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object.
Chen, Zengshi.

Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object. - 207 p.

Adviser: Hooshang Hemami.

Thesis (Ph.D.)--The Ohio State University, 2006.

The main objective of this dissertation is to understand how the humanoid organisms or machines use appropriate control strategies and reference motions to achieve the desirable collision responses such as the contact time, the contact forces, the departure velocities of two colliding subjects and the physical deformation. Thereby, the collision of a subject with a rigid object such as a flat ground or a soft object such as a soccer ball is modeled and studied. Collision is a challenging task and involves coupling, motion planning, dynamics and controls.

ISBN: 9780542823350Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object.
LDR:03738nam 2200313 a 45 001 974490
005 20110929
008 110929s2006 eng d
020 $a 9780542823350
035 $a (UnM)AAI3230911
035 $a AAI3230911
040 $a UnM $c UnM
100 1 $a Chen, Zengshi. $3 1298418
245 1 0 $a Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object.
300 $a 207 p.
500 $a Adviser: Hooshang Hemami.
500 $a Source: Dissertation Abstracts International, Volume: 67-08, Section: B, page: 4688.
502 $a Thesis (Ph.D.)--The Ohio State University, 2006.
520 $a The main objective of this dissertation is to understand how the humanoid organisms or machines use appropriate control strategies and reference motions to achieve the desirable collision responses such as the contact time, the contact forces, the departure velocities of two colliding subjects and the physical deformation. Thereby, the collision of a subject with a rigid object such as a flat ground or a soft object such as a soccer ball is modeled and studied. Collision is a challenging task and involves coupling, motion planning, dynamics and controls.
520 $a In particular, we are interested in the collision of a humanoid organism with a ground in the step stance. This collision involves the interaction between the two rigid objects. The equations of motion of a five-link three-dimensional subject embedded in a space larger than the joint space of the system are developed by sequential elimination, orthogonality of the spaces and virtual work mechanism, and then are projected onto the sagittal plane. The model is further projected onto the joint space where we obtain a tenth-order under-actuated system with the maximal number of three outputs that can be regulated. To avoid tackling such a system with complicated internal dynamics, finally, we project the joint space model onto the subspace whose dimension is equal to the number of degrees of freedom of the system.
520 $a Collision time between two objects can be as short as several milliseconds. Fast tracking convergence and small steady state tracking error are required in numerical simulation. For the step stance leap, an integral sliding mode control strategy is designed to track the reference motion, obtained by experimental recording of humans executing the step stance leap. It eliminates the reaching phase for the sliding mode. The stability, finite-time convergence and robustness of the systems are studied, proved and verified by computer simulation. The sliding mode control algorithm is developed to track the preplanned trajectory against modeling uncertainties and impact disturbances for the ball-foot interaction.
520 $a The experiments are emphasized in this research. For the step stance leap, the predicted GRF profiles are in agreement with experimental recording of the GRFs. In particular, the predictions capture the short duration and large amplitudes of the GRFs upon impact as well as the burst of high energy required during the take-off phase. For the ball-foot collision, the collision duration, the ball's departure velocity, the average ball-foot collision force and the ball's peak deformation obtained by simulation match the reported results. The observed three phases of the ball-foot collision are confirmed by our simulation. The "follow-through" phenomenon in sports is also demonstrated.
590 $a School code: 0168.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0544
690 $a 0771
710 2 0 $a The Ohio State University. $3 718944
773 0 $t Dissertation Abstracts International $g 67-08B.
790 $a 0168
790 1 0 $a Hemami, Hooshang, $e advisor
791 $a Ph.D.
792 $a 2006
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3230911