Learning-based Control System Design for the Bipedal Running Robot and Development of a Two-layer Framework for Generating the Optimal Paths in Various Movement Maneuvers, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor)
Abstract
Foot movement is one of the most powerful and adaptable methods of movement in nature. Inspired by humans, the most intelligent creatures on earth, bipedal robots have many uses. In this research, a control method for running a bipedal robot has been designed. In the simulation part of the five-link model, the robot's motion equations for running and walking at different levels are extracted by the Lagrange method. In path generation, using the two-layer optimization method and holonomic and dynamic constraints, optimal paths are produced which are kinematically and dynamically possible (feasible). Additionally, path generation is facilitated by an invariant impact constraint to ensure the...
Cataloging briefLearning-based Control System Design for the Bipedal Running Robot and Development of a Two-layer Framework for Generating the Optimal Paths in Various Movement Maneuvers, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor)
Abstract
Foot movement is one of the most powerful and adaptable methods of movement in nature. Inspired by humans, the most intelligent creatures on earth, bipedal robots have many uses. In this research, a control method for running a bipedal robot has been designed. In the simulation part of the five-link model, the robot's motion equations for running and walking at different levels are extracted by the Lagrange method. In path generation, using the two-layer optimization method and holonomic and dynamic constraints, optimal paths are produced which are kinematically and dynamically possible (feasible). Additionally, path generation is facilitated by an invariant impact constraint to ensure the...
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