Control of dynamic maneuvers for bipedal robots
Abstract/Contents
- Abstract
- There are many topographies in both the natural and man-made worlds which pose difficulties to machines: rubble fields, collapsed structures, ecologically sensitive areas, and even generally rugged terrain. If mechanical systems could negotiate such environments, the benefit to society would be great, with applications in search and rescue, ecologically friendly harvesting industries, and infantry support. The focus of this thesis is on gait control for bipedal robots. Before developing control algorithms, two areas of a bipedal robotic system are considered: leg design and control architecture. Noting the success of biologic systems in navigating difficult terrains, inspirations are taken from nature in both of these areas. A dynamic simulation method appropriate for systems with varying topology, such as legged robots, is also developed. In order to test the leg design, control architecture, and dynamic simulator, the relatively simple task of monopod hopping is studied. Stable results are achieved in both simulation and hardware, and the leg design, control architecture, and dynamic simulator are validated. Four bipedal maneuvers are then considered: steady-state running, accelerating, decelerating, and turning. Stable simulated results are demonstrated for all of these maneuvers. An experimental biped is also created. When the torso pitch is partially constrained, stable experimental steady-state running is achieved. When the torso pitch is unconstrained, five steps are achieved before falling. This work contains significant contributions in the areas of control architecture, leg design, and dynamic simulation methods for multi-topology systems. Novel control algorithms are presented for monopod hopping and steady-state running. Finally, control algorithms are presented for accelerating, decelerating, and turning, which have not been previously studied in bipedal robots.
Description
| Type of resource | text |
|---|---|
| Form | electronic; electronic resource; remote |
| Extent | 1 online resource. |
| Publication date | 2010 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Associated with | Perkins, Alexander Douglas |
|---|---|
| Associated with | Stanford University, Department of Mechanical Engineering |
| Primary advisor | Waldron, Kenneth J |
| Thesis advisor | Waldron, Kenneth J |
| Thesis advisor | Gerdes, J. Christian |
| Thesis advisor | Roth, Bernard |
| Advisor | Gerdes, J. Christian |
| Advisor | Roth, Bernard |
Subjects
| Genre | Theses |
|---|
Bibliographic information
| Statement of responsibility | Alexander Douglas Perkins. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis (Ph. D.)--Stanford University, 2010. |
| Location | electronic resource |
Access conditions
- Copyright
- © 2010 by Alexander Douglas Perkins
- License
- This work is licensed under a Creative Commons Attribution Non Commercial 3.0 Unported license (CC BY-NC).
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