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Binnard, Michael B. "Design of a small pneumatic walking robot." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/10422.
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Morse, Christopher John 1974. "Design of a quadruped walking robot for social interaction." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/89305.
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Steele, Alexander Gabriel. "Biomimetic Design and Construction of a Bipedal Walking Robot." PDXScholar, 2018. https://pdxscholar.library.pdx.edu/open_access_etds/4486.
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Human balance and locomotion control is highly complex and not well understood. To understand how the nervous system controls balance and locomotion works, we test how the body responds to controlled perturbations, the results are analyzed, and control models are developed. However, to recreate this system of control there is a need for a robot with human-like kinematics. Unfortunately, such a robotic testbed does not exist despite the numerous applications such a design would have in mobile robotics, healthcare, and prosthetics.
This thesis presents a robotic testbed model of human lower legs. By using MRI and CT scans, I designed joints that require lower force for actuation, are more wear resistant, and are less prone to catastrophic failure than a traditional revolute (or pinned) joints. The result of using this process is the design, construction, and performance analysis of a biologically inspired knee joint for use in bipedal robotics.
For the knee joint, the design copies the condylar surfaces of the distal end of the femur and utilizes the same crossed four-bar linkage design the human knee uses. The joint includes a changing center of rotation, a screw-home mechanism, and patella; these are characteristics of the knee that are desirable to copy for bipedal robotics. The design was calculated to have an average sliding to rolling ratio of 0.079, a maximum moment arm of 2.7 inches and a range of motion of 151 degrees. This should reduce joint wear and have kinematics similar to the human knee. I also designed and constructed novel, adjustably-damped hip and ankle joints that use braided pneumatic actuators. These joints provide a wide range of motion and exhibit the same change in stiffness that human joints exhibit as flexion increases, increasing stability, adaptability, and controllability.
The theoretical behaviors of the joints make them desirable for use in mobile robotics and should provide a lightweight yet mechanically strong connection that is resistant to unexpected perturbations and catastrophic failure. The joints also bridge the gap between completely soft robotics and completely rigid robotics. These joints will give researchers the ability to test different control schemes and will help to determine how human balance is achieved. They will also lead to robots that are lighter and have lower power requirements while increasing the adaptability of the robot. When applying these design principles to joints used for prosthetics, we reduce the discomfort of the wearer and reduce the effort needed to move. Both of which are serious issues for individuals who need to wear a prosthetic device.
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Rais, A. I. "Design and control of a four-legged walking robot." Thesis, University of Sussex, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.372731.
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Jackowski, Zachary John. "Design, construction, and experiments with a compass gait walking robot." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/67617.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 91-93).
In recent years a number of new computational techniques for the control of nonlinear and underactuated systems have been developed and tested largely in theory and simulation. In order to better understand how these new tools are applied to real systems and to expose areas where the theory is lacking testing on a physical model system is necessary. In this thesis a human scale, free walking, planar bipedal walking robot is designed and several of these new control techniques are tested. These include system identification via simulation error optimization, simulation based LQR-Trees, and transverse stabilization of trajectories. Emphasis is put on the topics of designing highly dynamic robots, practical considerations in implementation of these advanced control strategies, and exploring where these techniques need additional development.
by Zachary J Jackowski.
S.M.
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Kljuno, Elvedin. "Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls." Ohio University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1354708727.
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Szabari, Mikuláš. "Konstrukce kráčejícího mobilního robotu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382418.
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The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task is to collect the sample. The first part is devoted to the review of walking robots. Follow-up an analysis of two-legged and four-leg walking robot technologies and a brief overview of drives. The second part is devoted to problem analysis and design variant. The work contains 4 design variants in the form of schemes. Using the multi-criteria analysis, the variants were evaluated and the optimal variant was chosen taking into account the representative parameters. The third part is devoted to the construction of the chosen variant, it is divided into body and leg construction. The overall design is processed in the form of a virtual 3D model. In the leg construction, the design itself, but also the calculations of drives, shafts, gears and belt transmissions are solved. The end of the thesis is devoted to drawing documentation based on 3D model and economic evaluation. Follow-up and discussion with possible continuation and use in practice.
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Malakar, Bijaya Bahr Behnam. "Design of bipedal walking robot and reduction of dynamic impact in joints." Diss., Click here for available full-text of this thesis, 2006. http://library.wichita.edu/digitallibrary/etd/2006/t012.pdf.
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Thesis (M.S.)--Wichita State University, Dept. of Mechanical Engineering."May 2006." Title from PDF title page (viewed on October 19, 2006). Thesis adviser: Behnam Bahr. Includes bibliographic references (leaves 73-75).
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Baines, Andrew Griffin. "Knee design for a bipedal walking robot based on a passive-dynamic walker." Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/32883.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.Includes bibliographical references (leaf 30).
Passive-dynamic walkers are a class of robots that can walk down a ramp stably without actuators or control due to the mechanical dynamics of the robot. Using a passive-dynamic design as the basis for a powered robot helps to simplify the control problem and maximize energy efficiency compared to the traditional joint-angle control strategy. This thesis outlines the design of a knee for the robot known as Toddler, a passive-dynamic based powered walker built at the Massachusetts Institute of Technology. An actuator at the knee allows the robot to bend and straighten the leg, but a clutch mechanism allows the actuator to completely disengage so that the leg can swing freely. The clutch operates by using a motor to rotate a lead screw which engages or disengages a set of spur gears. Control of the knee is accomplished by utilizing the robot's sensors to determine whether or not the knee should be engaged. The engagement signal is then fed through a simple motor control circuit which controls the motor that turns the lead screw. The knee design was successfully implemented on Toddler but more work is required in order to optimize his walking. In order to study the dynamics of walking with knees, we also built a copy of McGeer's original passive walker with knees.
by Andrew Griffin Baines.
S.B.
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Cutler, Steven. "Implementation of a Variable Duty Factor Controller on a Six-Legged Axi-Symmetric Walking Robot." Thesis, University of Waterloo, 2006. http://hdl.handle.net/10012/2887.
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Hexplorer is a six-legged walking robot developed at the University of Waterloo. The robot is controlled by a network of seven digital signal processors, six of which control three motors each, for a total of 18 motors. Brand new custom electronics were designed to house the digital signal processors and associated circuitry. A variable duty factor wave gait, developed by Yoneda et al. was simulated and implemented on the robot. Simulation required an in-depth kinematic analysis that was complicated by the mechanical design of parallel mechanism comprising the legs. These complications were handled in both simulation and implementation. However, due to mechanical issues Hexplorer walked for only one or two steps at a time.
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Pajon, Adrien. "Humanoid robots walking with soft soles." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS060/document.
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Lorsque des changements inattendus de la surface du sol se produisent lors de la marche, le système nerveux central humain doit appliquer des mesures de contrôle appropriées pour assurer une stabilité dynamique. De nombreuses études dans le domaine de la commande moteur ont étudié les mécanismes d'un tel contrôle postural et ont largement décrit comment les trajectoires du centre de masse (COM), le placement des pas et l'activité musculaire s'adaptent pour éviter une perte d'équilibre. Les mesures que nous avons effectuées montrent qu'en arrivant sur un sol mou, les participants ont modulé de façon active les forces de réaction au sol (GRF) sous le pied de support afin d'exploiter les propriétés élastiques et déformables de la surface pour amortir l'impact et probablement dissiper l'énergie mécanique accumulée pendant la ‘chute’ sur la nouvelle surface déformable. Afin de contrôler plus efficacement l'interaction pieds-sol des robots humanoïdes pendant la marche, nous proposons d'ajouter des semelles extérieures souples (c'est-à-dire déformables) aux pieds. Elles absorbent les impacts et limitent les effets des irrégularités du sol pendant le mouvement sur des terrains accidentés. Cependant, ils introduisent des degrés de liberté passifs (déformations sous les pieds) qui complexifient les tâches d'estimation de l'état du robot et ainsi que sa stabilisation globale. Pour résoudre ce problème, nous avons conçu un nouveau générateur de modèle de marche (WPG) basé sur une minimisation de la consommation d'énergie qui génère les paramètres nécessaires pour utiliser conjointement un estimateur de déformation basé sur un modèle éléments finis (FEM) de la semelle souple pour prendre en compte sa déformation lors du mouvement. Un tel modèle FEM est coûteux en temps de calcul et empêche la réactivité en ligne. Par conséquent, nous avons développé une boucle de contrôle qui stabilise les robots humanoïdes lors de la marche avec des semelles souples sur terrain plat et irrégulier. Notre contrôleur en boucle fermée minimise les erreurs sur le centre de masse (COM) et le point de moment nul (ZMP) avec un contrôle en admittance des pieds basé sur un estimateur de déformation simplifié. Nous démontrons son efficacité expérimentalement en faisant marcher le robot humanoïde HRP-4 sur des graviersWhen unexpected changes of the ground surface occur while walking, the human central nervous system needs to apply appropriate control actions to assure dynamic stability. Many studies in the motor control field have investigated the mechanisms of such a postural control and have widely described how center of mass (COM) trajectories, step patterns and muscle activity adapt to avoid loss of balance. Measurements we conducted show that when stepping over a soft ground, participants actively modulated the ground reaction forces (GRF) under the supporting foot in order to exploit the elastic and compliant properties of the surface to dampen the impact and to likely dissipate the mechanical energy accumulated during the ‘fall’ onto the new compliant surface.In order to control more efficiently the feet-ground interaction of humanoid robots during walking, we propose adding outer soft (i.e. compliant) soles to the feet. They absorb impacts and cast ground unevenness during locomotion on rough terrains. However, they introduce passive degrees of freedom (deformations under the feet) that complexify the tasks of state estimation and overall robot stabilization. To address this problem, we devised a new walking pattern generator (WPG) based on a minimization of the energy consumption that offers the necessary parameters to be used jointly with a sole deformation estimator based on finite element model (FEM) of the soft sole to take into account the sole deformation during the motion. Such FEM computation is time costly and inhibit online reactivity. Hence, we developed a control loop that stabilizes humanoid robots when walking with soft soles on flat and uneven terrain. Our closed-loop controller minimizes the errors on the center of mass (COM) and the zero-moment point (ZMP) with an admittance control of the feet based on a simple deformation estimator. We demonstrate its effectiveness in real experiments on the HRP-4 humanoid walking on gravels
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Telesh, Andriy [Verfasser], and Frank [Akademischer Betreuer] Palis. "Design of biped robot walking based on non-linear periodical oscillations / Andriy Telesh. Betreuer: Frank Palis." Magdeburg : Universitätsbibliothek, 2012. http://d-nb.info/1051502756/34.
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Safonov, Andrii [Verfasser], Ulrich [Akademischer Betreuer] Schmucker, and Stefan [Akademischer Betreuer] Palis. "Design of biped robot walking with double-support phase / Andrii Safonov. Betreuer: Ulrich Schmucker ; Stefan Palis." Magdeburg : Universitätsbibliothek, 2015. http://d-nb.info/1084697262/34.
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Zhang, Yang. "Design and synthesis of mechanical systems with coupled units." Thesis, Rennes, INSA, 2019. http://www.theses.fr/2019ISAR0004/document.
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Ce mémoire traite de nouveaux principes de conception qui sont inspirés par le couplage de deux unités représentant les différentes structures mécaniques. Les critères de conception optimale et les types d'unités combinées sont différents. Cependant, toutes les tâches sont considérées dans le couplage de ces unités. L'examen critique présenté dans le premier chapitre est divisé en trois sections en raison de la nature des problèmes traités: les robots marcheurs, les compensateurs de gravité et les robots collaboratifs. Le deuxième chapitre traite du développement de robots marcheurs à actionneur unique, conçus par couplage de deux mécanismes ayant les fonctionnants de jambe. Basée sur l'algorithme génétique, la synthèse proposée permet d'assurer la reproduction de la trajectoire obtenue à partir de la marche humaine. Par l'ajustement des paramètres géométriques des unités conçues, il devient possible non seulement d'assurer une marche du robot à des pas variables, mais également de monter les escaliers. Ensuite la conception et la synthèse des équilibreurs pour les robots sont considérés. Un costume robotisé type exosquelette permettant d'aider aux personnes transportant des charges lourdes est examiné dans le chapitre suivant La conception proposée présente une symbiose d'un support rigide et léger et d'un système de câbles monté sur ce support. L'étude et l'optimisation statique et dynamique ont conduit aux tests sur un mannequin. Le dernier chapitre propose l'étude et 'optimisation d'un système couplé, comprenant un manipulateur équilibré à commande manuelle et un robot collaboratif. Le but d'une telle coopération est de manipuler de lourdes charges avec un cobotThis thesis deals with the design principles, which arc based on the coupling of two mechanical structures. The criteria for optimal design and the types of combined units are different. However, all the tasks are considered in coupling of given mechanical units. The critical review given in the first chapter is divided into three sections due to the nature of the examined problems: legged walking robots, gravity compensators used in robots and collaborative robots. Chapter two deals with the development of single actuator walking robots designed by coupling of two mechanisms. Based on the Genetic Algorithm, the synthesis allows one to ensure the reproduction of prescribed points of the given trajectory obtained from the walking gait. By adjusting the geometric parameters of the designed units, it becomes possible not only to operate the robot at variable steps, but also to climb the stairs. The next chapter deals with the design and synthesis of gravity balancers. A robotic exosuit that can help people carrying heavy load is the subject of chapter four. The proposed exosuit presents a symbiosis of two systems: rigid lightweight support and cable system. Static and dynamic studies and optimization are considered. Experiments are also carried out on a mannequin test bench. The last chapter presents a coupled system including a hand-operated balanced manipulator and a collaborative robot. The aim of such a cooperation is to manipulate heavy payloads with less powerful robots. Dynamic analysis of the coupled system is perfonned and methods for reducing the oscillation of the HOBM at the final phase of the prescribed trajectories are proposed
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黃楚輝。 and Chor-fai Terence Wong. "A gyroscopic approach to biped dynamic walking." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1998. http://hub.hku.hk/bib/B31221890.
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Konyev, Mykhaylo [Verfasser], Frank [Akademischer Betreuer] Palis, and Ulrich [Akademischer Betreuer] Schmucker. "Contact processing within walking robots' design / Mykhaylo Konyev. Betreuer: Frank Palis ; Ulrich Schmucker." Magdeburg : Universitätsbibliothek, 2011. http://d-nb.info/1047599740/34.
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Konyev, Mykhaylo Verfasser], Frank [Akademischer Betreuer] [Palis, and Ulrich [Akademischer Betreuer] Schmucker. "Contact processing within walking robots' design / Mykhaylo Konyev. Betreuer: Frank Palis ; Ulrich Schmucker." Magdeburg : Universitätsbibliothek, 2011. http://d-nb.info/1047599740/34.
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Lewinger, William Anthony. "Neurobiologically-based Control System for an Adaptively Walking Hexapod." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1295655329.
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Murillo, Jaime. "Design of a Pneumatic Artificial Muscle for Powered Lower Limb Prostheses." Thèse, Université d'Ottawa / University of Ottawa, 2013. http://hdl.handle.net/10393/24104.
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Ideal prostheses are defined as artificial limbs that would permit physically impaired individuals freedom of movement and independence rather than a life of disability and dependence. Current lower limb prostheses range from a single mechanical revolute joint to advanced microprocessor controlled mechanisms. Despite the advancement in technology and medicine, current lower limb prostheses are still lacking an actuation element, which prohibits patients from regaining their original mobility and improving their quality of life.
This thesis aims to design and test a Pneumatic Artificial Muscle that would actuate lower limb prostheses. This would offer patients the ability to ascend and descend stairs as well as standing up from a sitting position. A comprehensive study of knee biomechanics is first accomplished to characterize the actuation requirement, and subsequently a Pneumatic Artificial Muscle design is proposed. A novel design of muscle end fixtures is presented which would allow the muscle to operate at a gage pressure surpassing 2.76 MPa (i.e. 400 psi) and yield a muscle force that is at least 3 times greater than that produced by any existing equivalent Pneumatic Artificial Muscle. Finally, the proposed Pneumatic Artificial Muscle is tested and validated to verify that it meets the size, weight, kinetic and kinematic requirements of human knee articulation.
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Erden, Mustafa Suphi. "Six-legged Walking Machine: The Robot-ea308." Phd thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607356/index.pdf.
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The work presented in this thesis aims to make contribution to the understanding and application of six-legged statically stable walking machines in both theoretical and practical levels. In this thesis five pieces of work, performed with and for the three-joint six-legged Robot-EA308, are presented: 1) Standard gaits, which include the well-known wave gaits, are defined and a stability analysis, in the sense of static stable walking, is performed on an analytical level. Various definitions are giventheorems are stated and proved. 2) A free gait generation algorithm with reinforcement learning is developed. Its facilities of stability improvement, smooth speed changes, and adaptation in case of a rear-leg deficiency with learning of five-legged walking are experimented in real-time on the Robot-EA308. 3) Trajectory optimization and controller design is performed for the protraction movement of a three-joint leg. The trajectory generated by the controller is demonstrated with the Robot-EA308. 4) The full kinematic-dynamic formulation of a three-joint six-legged robot is performed with the joint-torques being the primary variables. It is demonstrated that the proposed torque distribution scheme, rather than the conventional force distribution, results in an efficient distribution of required forces and moments to the supporting legs. 5) An analysis of energy efficiency is performed for wave gaits. The established strategies for determination of gait parameters for an efficient walk are justified using the Robot-EA308.
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au, shiqi peng@woodside com, and Shiqi Peng. "A Biologically Inspired Four Legged Walking Robot." Murdoch University, 2006. http://wwwlib.murdoch.edu.au/adt/browse/view/adt-MU20070115.113710.
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This Ph.D. thesis presents the design and implementation of a biologically inspired
four-phase walking strategy using behaviours for a four legged walking robot. In
particular, the walking strategy addresses the balance issue, including both static and
dynamic balance that were triggered non-deterministically based on the robots realtime interaction with the environment. Four parallel Subsumption Architectures
(SA) and a simple Central Pattern Producer (CPP) are employed in the physical
implementation of the walking strategy. An implementation framework for such a
parallel Subsumption Architecture is also proposed to facilitate the reusability of the
system. A Reinforcement Learning (RL) method was integrated into the CPP to
allow the robot to learn the optimal walking cycle interval (OWCI), appropriate for
the robot walking on various terrain conditions. Experimental results demonstrate
that the robot employs the proposed walking strategy and can successfully carry out
its walking behaviours under various experimental terrain conditions, such as flat
ground, incline, decline and uneven ground. Interactions of all the behaviours of the
robot enable it to exhibit a combination of both preset and emergent walking
behaviours.
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Peng, Shiqi. "A biologically inspired four legged walking robot." Peng, Shiqi (2006) A biologically inspired four legged walking robot. PhD thesis, Murdoch University, 2006. http://researchrepository.murdoch.edu.au/255/.
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This Ph.D. thesis presents the design and implementation of a biologically inspired four-phase walking strategy using behaviours for a four legged walking robot. In particular, the walking strategy addresses the balance issue, including both static and dynamic balance that were triggered non-deterministically based on the robot's realtime interaction with the environment. Four parallel Subsumption Architectures (SA) and a simple Central Pattern Producer (CPP) are employed in the physical implementation of the walking strategy. An implementation framework for such a parallel Subsumption Architecture is also proposed to facilitate the reusability of the system. A Reinforcement Learning (RL) method was integrated into the CPP to allow the robot to learn the optimal walking cycle interval (OWCI), appropriate for the robot walking on various terrain conditions. Experimental results demonstrate that the robot employs the proposed walking strategy and can successfully carry out its walking behaviours under various experimental terrain conditions, such as flat ground, incline, decline and uneven ground. Interactions of all the behaviours of the robot enable it to exhibit a combination of both preset and emergent walking behaviours.
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Mamrak, Justin. "MARK II a biologically-inspired walking robot /." Ohio : Ohio University, 2008. http://www.ohiolink.edu/etd/view.cgi?ohiou1226694264.
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Angle, Colin. "Genghis, a six legged autonomous walking robot." Thesis, Massachusetts Institute of Technology, 1989. http://hdl.handle.net/1721.1/14531.
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Krajíček, Lukáš. "Implementace řídicích členů pro mobilní kráčivý robot." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-230071.
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This diploma thesis deals with design and implementation of the controllers of a mobile walking robot. The advantage of these controllers are their kinematics and geometrics independent representation, which allow to use them for different robot types and tasks. In this thesis the contact controller is designed, which minimizes residual forces and torques at the robot's center of gravity, and thereby stabilize robot's body. Next the thesis deals with a posture controller, which maximizes a heuristic posture measure to optimize posture of robot body. Because of this optimization, legs are moved away from their limits and therefore they have more working space for next move. Implementation of the chosen solution is made on the robot's MATLAB mathematical model. Controllers are composed into a control basis, that allows to solve general control tasks by simultaneous combination of contained controllers. The algorithm was created for that simultaneous activation and its operation was explained on flow charts.
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Pratt, Jerry E. "Virtual Model Control of a Biped Walking Robot." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/7082.
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The transformation from high level task specification to low level motion control is a fundamental issue in sensorimotor control in animals and robots. This thesis develops a control scheme called virtual model control which addresses this issue. Virtual model control is a motion control language which uses simulations of imagined mechanical components to create forces, which are applied through joint torques, thereby creating the illusion that the components are connected to the robot. Due to the intuitive nature of this technique, designing a virtual model controller requires the same skills as designing the mechanism itself. A high level control system can be cascaded with the low level virtual model controller to modulate the parameters of the virtual mechanisms. Discrete commands from the high level controller would then result in fluid motion. An extension of Gardner's Partitioned Actuator Set Control method is developed. This method allows for the specification of constraints on the generalized forces which each serial path of a parallel mechanism can apply. Virtual model control has been applied to a bipedal walking robot. A simple algorithm utilizing a simple set of virtual components has successfully compelled the robot to walk eight consecutive steps.
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Bailey, David William. "Transfer of support in a dynamic walking robot." Thesis, Massachusetts Institute of Technology, 1995. http://hdl.handle.net/1721.1/38104.
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Maximo, Marcos Ricardo Omena de Albuquerque. "Omnidirectional ZMP-based walking for a humanoid robot." Instituto Tecnológico de Aeronáutica, 2015. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=3242.
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Humanoid walking is considered one of the hardest problems in Robotics. Current state-of-the-art humanoid robots are able to achieve high speeds on flat ground. However, they still exhibit agility, dexterity, robustness, flexibility and energy efficiency far below a typical human does. In this thesis, our main goal is to develop an omnidirectional walking engine for a humanoid robot. We follow an approach based on the Zero Moment Point (ZMP) concept, which provides an useful criterion for biped stability. To avoid dealing directly with the complex dynamics of a high degrees of freedom humanoid robot, we used the 3D Linear Inverted Pendulum Model (3D-LIPM) to approximate the robot dynamics. The resulting equations allowed us to find a suitable center of mass (CoM) trajectory to maintain the robot balance analytically by solving a boundary value problem. Furthermore, we employed strategies to improve the walking robustness: we make the robot move its arms in order to compensate the yaw moment induced by the legs and we developed a feedback controller that uses the torso angular velocities to stabilize the walk. Taking advantage of the methods developed for walking, we also developed a kicking motion. Finally, experiments were done to validate the methods developed in this work.
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Wardle, Javan Brent. "Hexapod robot locomotion over uneven terrain." Thesis, University of Salford, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.360453.
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Wong, Edward Ting Ping. "Use of a Delta robot as a walking machine." Thesis, University of Canterbury. Mechanical Engineering, 1998. http://hdl.handle.net/10092/6628.
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A 3 degree of freedom (dof) parallel Delta robot was built in the laboratory of the Mechanical Engineering Department, University of Canterbury. It possesses the similar characteristics and features as Clavel’s Delta 4 robot, which is well known for pick and place applications. Due to its parallel actuated mechanisms, this type of robot, so far, has been claimed as the fastest robot in the world. However, the Canterbury Delta robot in the laboratory suffered jerky motions when travelling along a prescribed continuous path. This was due to the use of 3 single axis step motor controllers (donated) rather than a single multi-axes control system. In order to improve the performance of the robot, the 3 existing control systems were replaced by a single chip DSP controller (TMS320F240). Under control of this powerful controller, the robot is able to perform point-to-point motion and continuous path motion under an open loop control mode.
In order to use the Delta robot as a walking machine, a tripod foot was successfully developed and attached to the travelling platform of the delta robot. The result was a practical walking machine with 3 dof called Delta walker or Delta walking machine. It is based on parallel mechanisms and has a maximum allowable step length of 120mm. The step length and walking space of the Delta walking machine were studied and stimulated through a static forces analysis in Matlab1. It was found that the step length was constrained by the torque limit of the harmonic gear drives rather than the torque output by the stepping motors.
An off-line optimal continuous path planning method was developed in Matlab for real time control at the joint level. The step walking path is approximated by a set of location nodes selected on the desired path. The motion control of the machine is provided by trajectory interpolation at the joint level. The pulse rates and the direction values are generated and sent to the DSP through an RS232 serial communication port.
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Chen, Zhongkai. "Optimized Walking of an 8-link 3D Bipedal Robot." Thesis, Paris, ENSAM, 2015. http://www.theses.fr/2015ENAM0027/document.
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D'un point de vue énergétique, les robots marcheurs sont moins performants que les humains. Face à ce défi, cette thèse propose une approche pour contrôler et optimiser les allures de marche des robots bipèdes à la fois en 2D et 3D en considérant les fréquences propres du robot et par ajout de ressorts. L'étude porte essentiellement sur un robot bipède 2D à 5 corps et des pieds ponctuels ainsi qu'un robot bipède 3D à 8 corps avec des pieds sans masse à contact linéique. La commande en boucle fermée considérée est basée sur la méthode des contraintes virtuelles et la linéarisation par retour d'état. Suite à des études précédentes, la stabilité du robot bipède 2D est vérifiée par une section de Poincaré unidimensionnelle et étendue au robot bipède 3D à contact linéique avec le sol. L'optimisation est effectuée en utilisant la programmation quadratique séquentielle. Les paramètres optimisés incluent des coefficients de polynômes de Bézier et des paramètres posturaux. Des contraintes d'optimisation sont imposées pour assurer la validité de l'allure de marche. Pour le robot bipède 2D, deux configurations différentes de ressorts placés aux hanches sont étudiées. Ces deux configurations ont permis de réduire le coût énergétique. Pour le robot bipède 3D, les paramètres d'optimisation sont séparés en deux parties : ceux décrivant le mouvement dans le plan sagittal et ceux du plan frontal. Les résultats de l'optimisation montrent que ces deux types de paramètres doivent être optimisés. Ensuite, des ressorts sont ajoutés respectivement par rapport au plan sagittal, par rapport au plan frontal puis dans les deux plans. Les résultats montrent que l'ajout des ressorts dans le plan sagittal permet de réduire significativement le coût énergétique et que l'association de ressorts dans le plan frontal améliore encore plus la consommation d'énergieFrom an energy standpoint, walking robots are less efficient than humans. In facing this challenge, this study aims to provide an approach for controlling and optimizing the gaits of both 2D and 3D bipedal robots with consideration for exploiting natural dynamics and elastic couplings. A 5-link 2D biped with point feet and an 8-link 3D biped with massless line feet are studied. The control method is based on virtual constraints and feedback linearization. Following previous studies, the stability of the 2D biped is verified by computing scalar Poincaré map in closed form, and now this method also applies to the 3D biped because of its line-foot configuration. The optimization is performed using sequential quadratic programming. The optimization parameters include postural parameters and Bézier coefficients, and the optimization constraints are used to ensure gait validity. For the 2D biped, two different configurations of hip joint springs are investigated and both configurations successfully reduce the energy cost. For the 3D biped, the optimization parameters are further divided into sagittal parameters and coronal parameters, and the optimization results indicate that both these parameters should be optimized. After that, hip joint springs are added respectively to the sagittal plane, the coronal plane and both these planes. The results demonstrate that the elastic couplings in the sagittal plane should be considered first and that the additional couplings in the coronal plane reduce the energy cost even further
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Wong, Tin-Lup. "Systems design of a walking robot." 1986. http://catalog.hathitrust.org/api/volumes/oclc/13878542.html.
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Hsiao, Yu-Shen, and 蕭裕昇. "The design and realized of cylinder-biped walking robot." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/7rp93p.
Full textAbstract:
碩士國立中央大學
電機工程研究所
94
The thesis is “The design and realized of cylinder-biped walkingrobot”. Set two standard cylinders at each lag to step, and set a slide cylinder on the flat-top to move the centre of gravity for keeping balance. So the biped robot can walk and keeping balance at the same time. Discussusing cylinder to displace server-motor on the biped robot to solve the huge habit and dearth torque of server-motor, and try to conquer the uncontrollable and un-orientation of cylinder. Using FLEX EPF 10K10TC144 FPGA board to make cylinders working smoothly and match with each cylinder. The constitution and control rule of cylinder-biped walking robot are all designed by myself.This is the first step of cylinder-biped walking robot research in Taiwan.
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Lee, Chung-Wei, and 李崇瑋. "Design and Implementation of A Biped Walking Robot System." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/90199565479413715820.
Full textAbstract:
碩士國立成功大學
工程科學系碩博士班
97
The purpose of this thesis is to develop a biped walking robot system which walks like human so that without using sensors and reducing the number of motors it still possesses the walking function. In order to design the robot system for multiple applications, a computer is used for controlling the actions of the robot through the control chips PIC16F877A and PIC16F873A. The computer communicates with the control chip by RS-232 serial communication port so that the robot can be controlled in-time. In this thesis, two types of design robot walking with passive joints are presented. The biped robots implemented with two mechanism designs are tested and evaluated. The robots have different locations of joints and motors, thus have different ways of walking. TYPE I with lateral hip motors, TYPE II with lateral ankle motors. To control the robot, the modified D-H notation is applied to construct the kinematic model of the robot. Then, the model is used for computing the center of gravity and in-time loading of the joint. With the results obtained from the motor test data and the dynamic analysis, the walking actions are successfully planned. Using the proposed walking action planning and control methods, it demonstrated that two types of the developed robots can reduce the number of motors and can walk satisfactorily in a short distance. In the aspect of application, the energy can be saved and the cost will be down due to the use of less motor and without using any sensor.
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Wu, Ching-Jui, and 吳京叡. "Walking Aid Design of a Humanoid Dual-arm Robot." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/76957838501602099785.
Full textAbstract:
碩士國立交通大學
電控工程研究所
102
In this thesis, a dual-arm mobile robot that is presented to walking support to a user. This robot has two operation modes, which can be converted by the user’s need in any situation. When the robot is in grasping mode, the robot can fetch an object through computer vision and 6-DOF robot arms. On the other hand, when the user wants walking help, the robot can be configured to the supporting mode to provide walking assist. In this mode, the robot arms are configured to close and hold each other by the special designed buckle mechanism. In this thesis, a path planning strategy is proposed to achieve arm-closing and buckle locking and unlocking. In this way, the robot arms are configured into handrails for user support. Furthermore, a 6-DOF force/torque sensor is used to obtain the user's exertion force for estimation of the user's motion intent. The walking support system determines robot velocity based on a compliance controller to provide the mobility aids. Several experiments validate that the proposed dual-mode design and the walking support system can provide the user walking assist.
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Ting, Bernard Goh Zheng, and 吳政庭. "Trajectory Design and Control of a Biped Robot Walking Upstairs." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/77509428514911169280.
Full textAbstract:
碩士國立中興大學
機械工程學系所
99
Abstract The purpose of this research is to design an imitation trajectory of a human walking upstairs trajectory for a biped robot to walk upstairs using a low cost servo controller to control it and achieve walking upstairs trajectory. In this research, a KHR-1 biped robot made by KONDO Inc. Japan, is used. With an extra turning module, the robot contains nineteen degrees of freedom comprising twelve servo motors on its legs, six servo motors on its hands and one its head. Off-line trajectory design method is used in this research, a stable and reliable trajectory is designed according to human upstairs trajectory, and had been compared with the stable ZMP trajectory developed by other researchers. Forward and inverse kinematics are used to calculate the rotation angle of each servo motor, and simulation is used to show the trajectory. To achieve a stable imitation trajectory of a human walking upstairs, S3C2440 ARM9 and AT89C4051 are used as controller.
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Pu, Yi-Hao, and 蒲奕豪. "Biped Robot Leg Mechanism Design and Control Toward Natural Walking." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/46901742849892377031.
Full textAbstract:
碩士國立臺灣大學
電機工程學研究所
99
The implementation of the specifically designed humanoid biped robot legs investigates towards active actuated natural walking is proposed in this thesis. Conventional humanoid biped robots suffer from problems like artificial and unnatural motion, or low agility. To improve the performance of the humanoid robot, this paper introduces the idea which employs the concept of both active-actuated biped robot legs and the passive dynamic walkers with more naturally walking. The approach in mechanism aspect is primarily based on the utilization of shock absorber and parallel linkage mechanism, which drastically decreases the load of actuator output force thus enables the humanoid biped walking robot legs to achieve higher efficiency while remain lower cost than traditional design since the requirement is also lower. The specifically designed mechanism also provides better support than conventional humanoid biped walking robot. The walking algorithm that combines “Series Elastic Actuation” and “Limit Cycle Walking” permits the robot to move in more natural way. The shock absorbers mounted in serial way at the actuator output enable the implementation of the conventional “Series Elastic Actuation”, and the shock absorbers mounted in parallel way with the actuators are added as the modification in order to store the energy of the actuators like the human muscle and thus even more suitable to implement “Limit Cycle Walking”. The experimental results along with simulation and analysis demonstrate the high potential and possibilities of this concept and introduce the new direction towards the naturally walking humanoid robot legs design.
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Chi, Chieh-Tsung, and 紀捷聰. "The Design Implementation and Control of a Biped Walking Robot." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/38184555548876234480.
Full textAbstract:
博士國立臺灣科技大學
電機工程系
89
In this thesis, we hope to construct a locomotive biped walking robot. We first construct the biped robot mechanical structure, the DC motor driving circuit design and implementation of the robot’s joint, programming the reference trajectories and walking gaits for three different terrains, etc. The effectiveness of system is verified by using the prototype of biped walking robot BR-2 . Firstly, this thesis is arranged to introduce how to design and implement analog hardware of the current, speed, and position control for a DC motor which belong to the biped robot’s joints. For the industrial requirement in both cost and performance, the controllers are designed by Lead/Lag controllers and by using the operational amplifiers. Once the inner loop current controller’s designed, the speed and position controllers could be easily and separately implemented. Both computer simulation and experimental results are given to illustrate the correctness of the motor controllers. The results of the developed DC motor controllers could be used in automatic machinery such as multiple axes machine tools and industrial robots. How to derive energy optimal gait for a bipedal walking robot is also taken into account. A locomotive robot we constructed was introduced and dynamical model of the swing leg was presented in this thesis. The dynamical model of the biped walking robot was used for the theoretical simulation, and we also used this model to estimate the performance for biped robot in practical robot’s applications. The trajectories programming method, cycloidal profile, is utilized for the reference trajectories of hip and ankle, which will lead to an energetically economical results. In order to synthesize a walking pattern for a planar biped on an even floor with a set of two coupled Van der Pol oscillators. The biped''s walking control system consists of a tracking control of the planned trajectory, and a positioning control at the end of the cycle period, if necessary. The effectiveness of the proposed methods is verified using computer simulation. The ground profile for locomotive biped robot is measured by ultrasonic sensors and then implement real time control of dynamic biped robot locomotion become possible. Sensors are assumed that mounted on the upper-foot plate of the robot’ feet. We obtain information data from the ultrasonic range detectors, and by means of the acquiring information to know the planned grounding surface shape for biped robot can successfully walking on the surface in real time. When the robot meet a terrain which is not same as planning trajectory before walking. Through modeling a new robot’s walking patterns by using grey modeling method for the robot can adapt to unknown terrain. We are by means of the results of the simulation to demonstrate that biped robot can smoothly walk on ascending the staircase through associated with ultrasonic range detectors. A real experimental biped robot BR-2 is also presented. Finally, in order to demonstrate the performance for that the biped walking robot can walk on uneven floor, we programmed the reference trajectories for biped walking robot to walk, including of even floor, sloping surface, and climb stairs, and arranged their walking gaits individually. Then we used the prototype of biped walking robot BR-2 to verify the effectiveness for our proposed method.
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Liang, You-Cheng, and 梁祐誠. "Walking Trajectory Planning and Balance Control Design for Bipedal Robot." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/rbvjzu.
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碩士國立虎尾科技大學
自動化工程系碩士班
105
In recent years, based on the rapid advance of computer technology, Computer aided engineering (CAE) software has become a powerful tool for engineering researchers to carry out engineering analysis. Therefore, this paper proposes a simulation model of biped robot on Matlab / SimMechanics. Through the numerical analysis simulation and visualization, the robot motion synthesis, analysis, and gait movement numerical simulation are presented. The simulate model is employed to investigate dynamic analysis, inverse kinematics analysis and ankle mechanism compensation. The simulate result provides an efficient and important information for biped robot design. In implementation of small bipedal robots, this paper first carries out the mechanism design of biped robot. Control strategy is based on Hierarchical control architecture. The main controller adopts MyRIO, the computer is designed a monitor. The Inertial Measurement Unit (IMU) is installed in the gravity center of the body. The sensor is used to detect the ZMP point and the gyroscope is used to monitor body balance. Then, Hip joint balance compensation is adjusted, so that bipedal robot can walk stably. In this study, the balance between the walking trajectories planning of biped robot is described, the design and simulation of ankle compensation is presented.
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Chrang, Chih-Wei, and 莊智偉. "Leg Mechanism Design of Walking Robot Using Multi-objective Genetic Algorithm." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/80401485387183440735.
Full textAbstract:
碩士大同大學
機械工程研究所
88
The purpose of the research is to achieve the minimum thrust and the minimum ratio of size and walking range, which the walking robot needs by using multi-objective genetic algorithm in accordance with Mr. Shieh and others’ closed-link walking robot. Before the design, this research uses the leg mechanism’s kinematic constraint equations to get Jacobian matrix. Then, analyze the force by using the Lagrangian Multiplier theory. And then, use the outcome from the force analysis to be the design’s object value. Next, divide the design into two steps. The first step uses the multi-objective genetic algorithm to the leg mechanism. Then, add springs into the leg mechanism in the second step. To test and verify this method, this report composes the force analysis program and the program of the multi-objective by using Borland C++ 5.0. Then, the researcher starts the leg mechanism design of walking robot. From the mock outcome, using the powerful global searching ability of the multi-objective genetic algorithm can come out more and better results than the original design.
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Huang, Pei-lun, and 黃培倫. "Design and Implementation of an Intelligent Walking-aid Mobile Robot System." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/38390610830436875549.
Full textAbstract:
碩士國立中山大學
機械與機電工程學系研究所
101
The main purpose of the thesis is to design a multi-function intelligent walking-aid mobile robot which can assist an individual people in walking. The robot can adjust walking speed by estimating the user’s age from wrinkles of forehead. The four force sensors and one torque sensor of the robot will detect the strength and intension of users. Due to the different usages between each user, we collect usages from some test subjects in order to establish a general walking-aid pattern. After gathering the data from test subjects, the adaptive network-based fuzzy inference system (ANFIS) is applied to learn the users’ behavior pattern, and then a custom walking-aid system is built based on the ANFIS. Under consideration of safety, we set a laser range finder in front of the robot to detect any blind spot and obstacle, preventing the robot from collision. On the other hand, the robot can start up auto-assisting on the downhill and uphill way; besides, in the rehabilitation center, the rear camera on the robot integrating with image processing technique and fuzzy control theory can seize the guiding line for navigating the robot to follow it. Remote control and monitoring sends the mobile robot location and real time image to the personal caregivers. In the end of the thesis, to discuss the comfort level of the user, we also analyze the force taken on the users’ sole of the foot with the mobile robot assisting or not.
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Huang, Jo-Tung, and 黃科棟. "Slope Surface Compliant Motion Control Design of a Walking Help Robot." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/73348429130195253897.
Full textAbstract:
碩士國立交通大學
電控工程研究所
98
In this thesis, an omni-directional walking help robot (Walbot) is presented for assisting elderly or handicapped people in indoor walking. A compliant motion controller with gravity compensation has been designed to make this powered robotic walker with passive behavior on a slope surface. This design allows a user to handle the robot safely to follow his/her motion intent. In order to detect user's motion intent, an external-force observer has been developed to replace expensive force/torque sensors. On a slope surface, the gravity force will affect robot's dynamic motion and contradict to the user's motion intent. A gravity compensator is proposed and added to the compliant motion control loop. Then, the user can walk with the robot on the slope as if it is on a flat surface. The proposed control method has been validated by experimental results.
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JANG, JR-FENG, and 張致烽. "The Design of a stable walking trajectory for a Biped Robot." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/72179380171185177335.
Full textAbstract:
碩士國立臺灣科技大學
電機工程系
96
The main aim of this thesis is to develop a biped robot which walk stably in various enviroments. The robot can adapt to the ground conditions with suitable a foot motion, and maintain its stability by a smooth hip motion.A method is used to plan a walking pattern consisting of a foot trajectory and a hip trajectory. First, to formulate the constraints of a foot trajectory, and generate the foot trajectory by third-order spline. Then, to formulate a smooth hip motion using a third-order spline function with the largest stability margin, and derive the hip trajectory by iterative computation.
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Malakar, Bijaya. "Design of bipedal walking robot and reduction of dynamic impact in joints." Thesis, 2006. http://hdl.handle.net/10057/264.
Full textAbstract:
Bipedal walking robots have distinguished themselves from other robots not only for their better mobility but also for the increased amount of complexity in their architecture. The issue of walking stability has inherently been related with these in various aspects from dynamics to controls. It has been defined in various ways for different aspects and these definitions have served as guidelines for designing a walking robot. This research is based on a design of a walking robot and development of a walking trajectory. Among the various approaches implemented in order to attain control of two-legged walking, this study attempted to linearize the walking trajectory by dividing it into finite discrete sections. Using the method of kinematics inversion to generate the initial open loop path, the study looks into implementation of the results for a successful walking mechanism. Further it dealt with stepping velocity control by using ground contact trigger and aimed at reducing the stress developed in joints due to dynamic forces.Thesis (M.S.)--Wichita State University, Dept. of Mechanical Engineering.
"May 2006."
Includes bibliographic references (leaves 73-75).
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Li, Ming-Che, and 李明哲. "Design and Implementation for a Biped Robot and the Associated Walking Analysis." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/26317265863502811249.
Full textAbstract:
碩士元智大學
電機工程學系
96
The objective of this thesis is to plan the static walking for a biped robot. The robot has ten joints. In static walking, the stability of a biped robot depends on its CoG (Center of Gravity). It will be stable if CoG of a biped robot falls in the certain region. Then, we limit the operation angles of ten joints according to the joints of a human foot. The robot’s static walking is planned by specifying trajectories of the hip and feet through relevant theories and inverse kinematics. Finally, the trajectory of its CoG is obtained from calculations of mathematical equations. Walking analysis of biped robots includes advancing, going upstairs and going downstairs. It produces different orbits in response to different walking patterns. In conclusion, we utilized the CoG orbit to analyze and discuss the differences of walking patterns of biped robots. For the entire study, we have successfully developed the relevant information and research data of biped robots.
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Yu, Sheng-Hsiung, and 游勝雄. "On the Design of a Robot Walking Helper Based on Environmental Sensing." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/38979175880896477936.
Full textAbstract:
碩士國立交通大學
電機與控制工程系所
97
In this thesis, we design a robot walking helper (i-go walking helper) to assist the elders’ motion and reduce the possibility that the elderly falls down while walking. This research proposes the robot walking helper consisting of a support frame, two carters, and two wheels equipped with servo brakes. The design is based on the concept of passive robotics, which uses servo brakes to limit the velocity of the walker. I-go is a passive walking helper as this assistive device will move only when the user’s force is applied, so-called passive dynamics. The design is based on the concern of safety. In this way, the user will not fall down due to unbalanced force from inappropriate active force. Meanwhile, a control algorithm is also proposed in this thesis. According to environmental sensing, obstacle avoidance and gravity compensation functions are built. When the elderly pushes the walking helper in the unknown environment, he/she knows how to avoid obstacle. When walking on the hill, the elderly will not slide down from the slope. The algorithm much enhances the stability and safety of the i-go walking helper.
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Kuo, Yu-Chieh, and 郭育傑. "Assistive Strategy Design for a Robot Walking Helper Based on Human Intention." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/45907641384425711820.
Full textAbstract:
碩士國立交通大學
電控工程研究所
99
Recently, the problem of aging population becomes more and more serious. How to take good care of the elderly is now an important issue around the world. Along with the progress of the medical and robot technology, several robot walking helpers have been developed. It motivates us to also develop a robot walking helper, named i-go, in our laboratory for assisting the lives of the elderly. In the thesis, we propose extracting the human intention via a human intention detection model, along with two assistive control algorithms in response to a variety of situations. They are: (1) the path guiding algorithm and (2) walking assistance algorithm. The former is applied to the user who is with worse control ability by guiding her/him to a pre-determined path, and the latter for the user with better control ability by providing the suitable assistive force during her/his walking on the self-determined path. The proposed assistive strategy design based on human intention has been verified via the experiment. In the near future, we expect the i-go can assist the elderly in real environments.
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Yang, Hsiang-Pin, and 楊翔斌. "On the Design of a Robot Walking Helper Based on Human Intention." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/23669614788917014579.
Full textAbstract:
碩士國立交通大學
電控工程研究所
98
In recent years, the progress in medical innovation has contributed to longer life-span for human being. How to take good care of the large amount of the elderly now becomes an important social issue. Among the general health problems for the elderly, disabilities surge as major issues to face. Hence, in this thesis, upon a robot walking helper developed in our laboratory, we attach force-sensing grip handle which can be used to effectively recognize the intention of the users. We use Lasso model for user intention recognition that we can infer the relationship between users' intention and measured pushing-pulling force with rotating torque. We also use the algorithm of PCA to get every intension’s weight. When the aged use different intention, they can use this intension’s weight and the algorithm of fuzzy to control the i-go to choose corresponding output of braking force. Besides, to adapt ever user’s different habits, we apply the algorithm of ANFIS to improve self-designed fuzzy controller to adapt to different users in achieving accurate assistance in braking force.
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Chen, Hao-Che, and 陳顥哲. "Design and Implementation of SOPC-Based Omnidirectional Walking System for Humanoid Robot." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/35515454481222536985.
Full textAbstract:
碩士淡江大學
電機工程學系碩士班
98
In this thesis, an omnidirectional walking system is proposed and it is implemented by the SOPC (System on Programmable Chip) technology to control a humanoid robot with 23 DOF (Degree of Freedom). This humanoid robot has 12 DOF for two legs, 8 DOF for two arms, 2 DOF for head, and 1 DOF for waist. In the implementation of SOPC technology for this humanoid robot, the parallel processing structure is used to control motors and capture sensor’s information so that the processing time of walking system is decreased. For the simulation, In this thesis use D-H (Denavit-Hartenberg) parameters table is used to build a humanoid robot model, then the COM (Center of Mass) and ZMP (Zero Moment Point) can be calculated by using this model. There are four types of walking motion in this omnidirectional walking system: mark time, forward and backward, left and right lateral, left and right rotation. The ZMP simulation is used to check the walking motion is stable or not. Owing to the number of adjusting parameters of the proposed omnidirectional walking system is decreased so that the motion adjustment of the robot is easier. From the experiment results, we can see that the walking motion of the robot based on the mark time is less influenced by the external force and the walking stability can be increased.
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Ku, Chun-feng, and 古均峰. "Analysis and Design of Periodic Walking of a Five-link 2D Bipedal Robot." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/kpf6aa.
Full textAbstract:
碩士國立臺灣科技大學
電機工程系
95
This thesis studies on the analysis and design of a five-link bipedal robot that can walk periodically. The analysis of the walking behavior of a five-link bipedal robot is very complicated. In order to simplify the analysis, only the walking motion of the bipedal robot in sagittal plane is considered. The biped's walking motion consists of successive phases of single support and double support, and its hybrid mathematical model of walking is non-linear and high dimensional. Using concepts of zero dynamics and virtual constraints, the dynamical equation of the bipedal robot can be treated as an one-dimensional first-order equation. Given a set of robot's parameters and from an optimization program, one can obtain a dynamic periodic walking of the bipedal robot. By setting an optimization function and various constraints, and then using the tool of optimization, one can simulate the periodically dynamical behavior of bipedal robot in various walking motion.