Loading...
Search for:
running
0.085 seconds
Design of Continuous and Time-Invariant Controllers for Exponential Stabilization of Periodic Walking and Running Locomotion in Planar Bipedal Robots
, Ph.D. Dissertation Sharif University of Technology ; Sadati, Nasser (Supervisor)
Abstract
During the last decades there have been enormous advances in robot control of dynamic walking and running. The desire to study legged locomotion has been motivated by 1) the desire to replace humans in hazardous occupations, 2) the desire to assist disabled people to walk and 3) the desire to investigate the complicated motions of the mankind. The control of dynamic walking and running is complicated by (i) limb coordination, (ii) hybrid nature of running due to presence of impact and takeoff, (iii) underactuation and overactuation, (iv) inability to apply the Zero Moment Point (ZMP) criterion, (v) lack of algorithms to achieve feasible period-one orbits, and (vi) conservation of angular...
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...