Simulation and control of biped walking robots:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
München
Verl. Dr. Hut
2011
|
| Edition: | 1. Aufl. |
| Series: | Robotik und Automation
|
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | IX, 181 S. Ill., graph. Darst. 210 mm x 148 mm, 296 g |
| ISBN: | 9783868538045 |
Staff View
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Record in the Search Index
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IMAGE 1
CONTENTS
1 INTRODUCTION 1
1.1 PROBLEM STATEMENT 1
1.2 BACKGROUND AND RELATED WORK 4
1.2.1 A SHORT HISTORY OF HUMANOID AND ANIMAL-LIKE ROBOTS 4
1.2.2 RELATED WORK 5
1.3 OVERVIEW OF THE THESIS 8
2 MODELING AND SIMULATION 11
2.1 INTRODUCTION 11
2.1.1 RELATED WORK 11
2.1.2 OVERVIEW 12
2.2 RIGID BODY DYNAMICS 13
2.2.1 TOPOLOGY AND DEGREES OF FREEDOM 13
2.2.2 RECURSIVE KINEMATICS CALCULATION 15
2.2.3 RELATIVE KINEMATICS 17
2.2.4 EQUATIONS OF MOTION FOR THE RIGID MULTIBODY SYSTEM 21
2.3 CONTACT AND ENVIRONMENT MODELS 21
2.3.1 CONTACT DYNAMICS 23
2.3.2 ENVIRONMENT MODEL AND DISTANCE COMPUTATION 27
2.4 DRIVES 31
2.4.1 ELECTRICAL MOTOR DYNAMICS 31
2.4.2 GEAR FRICTION 32
2.4.3 GEAR ELASTICITY 36
2.5 SENSOR MODELS 37
2.5.1 JOINT SENSORS 37
2.5.2 FORCE/TORQUE SENSORS 37
2.5.3 INERTIAL MEASUREMENT UNIT 38
2.6 ROBOT MODELS AND TIME INTEGRATION 39
2.6.1 ROBOT MODELS 39
2.6.2 TIME INTEGRATION 43
2.7 CHAPTER SUMMARY 44
3 STABILITY AND FEASIBILITY IN BIPED WALKING 47
3.1 INTRODUCTION 47
3.2 BASIC ASPECTS OF BIPED WALKING DYNAMICS 47
3.3 ZERO MOMENT POINT AND RELATED CONCEPTS 48
3.3.1 ZERO MOMENT POINT 48
3.3.2 FOOT ROTATION INDICATOR AND ZERO RATE OF CHANGE OF ANGULAR
MOMENTUM 50 3.3.3 STABILITY CRITERIA BASED ON THE CONTACT WRENCH 51
3.3.4 REMARKS 51
3.4 GENERAL STABILITY CRITERIA 52
3.5 PERIODIC MOTIONS 53
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1010570501
DIGITALISIERT DURCH
IMAGE 2
CONTENTS
3.6 CHAPTER SUMMARY 54
REAL-TIME TRAJECTORY GENERATION 55
4.1 INTRODUCTION 55
4.2 GAIT COORDINATION 55
4.3 STEP SEQUENCE PLANNING 57
4.3.1 STANDARD CIRCULAR PATH 59
4.3.2 STEP PARAMETER CALCULATION 61
4.3.3 REACTIVE STEP SEQUENCE PLANNING 62
4.3.4 HIGHER LEVEL BEHAVIOR 63
4.4 COORDINATE SYSTEMS AND TASK-SPACE DEFINITION 64
4.4.1 COORDINATE SYSTEMS 64
4.4.2 TASK-SPACE DEFINITION 66
4.4.3 RELATIVE FOOT ORIENTATION 68
4.4.4 ABSOLUTE UPPER BODY ORIENTATION 69
4.5 FOOT TRAJECTORY GENERATION 70
4.6 CENTER OF GRAVITY TRAJECTORY GENERATION 74
4.6.1 RELATED WORK 75
4.6.2 PROBLEM STATEMENT AND ANALYSIS 76
4.6.3 CENTER OF GRAVITY DYNAMICS 78
4.6.4 ZMP REFERENCE TRAJECTORY 79
4.6.5 SOLVING THE BOUNDARY VALUE PROBLEM 80
4.7 CAMERA HEAD CONTROL 84
4.7.1 INVERSE KINEMATICS 84
4.7.2 REFERENCE TRAJECTORY GENERATION 85
4.8 CONTACT FORCE DISTRIBUTION 87
4.9 ADDITIONAL COMPONENTS IN TRAJECTORY GENERATION 89
4.10 CHAPTER SUMMARY 90
FEEDBACK CONTROL 93
5.1 INTRODUCTION 93
5.1.1 OVERVIEW 93
5.1.2 BACKGROUND AND RELATED WORK 93
5.2 CONTACT FORCE MODIFICATION 95
5.3 HYBRID POSITION/FORCE CONTROL 98
5.4 INVERSE KINEMATICS AND REDUNDANCY RESOLUTION 101
5.5 JOINT POSITION CONTROL 104
5.5.1 JOINT POSITION CONTROL FOR JOHNNIE 104
5.5.2 JOINT POSITION CONTROL FOR LOLA 104
5.6 OPTIMIZATION-BASED PARAMETER TUNING 109
5.7 CHAPTER SUMMARY I LL
AUTONOMOUS WALKING 113
6.1 COMPUTER VISION SYSTEM 113
6.2 INTERFACING WALKING CONTROL AND COMPUTER VISION 115
SOFTWARE SYSTEM 117
7.1 INTRODUCTION 117
7.2 SOFTWARE COMPONENTS 118
7.3 MAIN PROGRAMS 120
IMAGE 3
CONTENTS IX
7.4 REAL-TIME SYSTEM 122
7.5 CHAPTER SUMMARY 126
8 RESULTS 127
8.1 BIPED WALKING 127
8.1.1 WALKING FORWARD 127
8.1.2 WALKING SIDEWAYS 130
8.1.3 COMPARISON OF SIMULATION AND MEASUREMENT 130
8.2 AUTONOMOUS LOCOMOTION 138
9 CONCLUSION 141
9.1 SUMMARY 141
9.2 DISCUSSION 142
9.3 RECOMMENDATIONS FOR FUTURE RESEARCH 143
A LOLA'S BASIC TECHNICAL DATA 145
B MULTIBODY SYSTEM TOPOLOGY OF LOLA 147
C HARMONIC DRIVE FRICTION MODEL PARAMETERS 149
D UPPER BODY KINEMATICS 153
E CUBIC SPLINES 155
F LOCAL OPTIMIZATION OF KINEMATIC REDUNDANCY 159
G EXPERIMENTAL RESULTS 161
G.I WALKING FORWARD AT 0 KM/H 161
G.2 WALKING FORWARD AT 1 KM/H 163
G.3 WALKING FORWARD AT 2 KM/H 164
G.4 WALKING FORWARD AT 3 KM/H 166
G.5 WALKING SIDEWAYS AT 0.7 KM/H 167
BIBLIOGRAPHY 171 |
| any_adam_object | 1 |
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| author_facet | Buschmann, Thomas |
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| dewey-full | 629.8932 |
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| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Maschinenbau / Maschinenwesen Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. Aufl. |
| format | Thesis Book |
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| isbn | 9783868538045 |
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| spelling | Buschmann, Thomas Verfasser aut Simulation and control of biped walking robots Thomas Buschmann 1. Aufl. München Verl. Dr. Hut 2011 IX, 181 S. Ill., graph. Darst. 210 mm x 148 mm, 296 g txt rdacontent n rdamedia nc rdacarrier Robotik und Automation Zugl.: München, Techn. Univ., Diss., 2010 Schreitroboter (DE-588)4281192-2 gnd rswk-swf Mehrkörpersystem (DE-588)4038390-8 gnd rswk-swf Bipedie (DE-588)4235947-8 gnd rswk-swf Regelung (DE-588)4048971-1 gnd rswk-swf Humanoider Roboter (DE-588)7576811-2 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Humanoider Roboter (DE-588)7576811-2 s Schreitroboter (DE-588)4281192-2 s Bipedie (DE-588)4235947-8 s Mehrkörpersystem (DE-588)4038390-8 s Regelung (DE-588)4048971-1 s DE-604 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=3701001&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=021203749&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Buschmann, Thomas Simulation and control of biped walking robots Schreitroboter (DE-588)4281192-2 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Bipedie (DE-588)4235947-8 gnd Regelung (DE-588)4048971-1 gnd Humanoider Roboter (DE-588)7576811-2 gnd |
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| title | Simulation and control of biped walking robots |
| title_auth | Simulation and control of biped walking robots |
| title_exact_search | Simulation and control of biped walking robots |
| title_full | Simulation and control of biped walking robots Thomas Buschmann |
| title_fullStr | Simulation and control of biped walking robots Thomas Buschmann |
| title_full_unstemmed | Simulation and control of biped walking robots Thomas Buschmann |
| title_short | Simulation and control of biped walking robots |
| title_sort | simulation and control of biped walking robots |
| topic | Schreitroboter (DE-588)4281192-2 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Bipedie (DE-588)4235947-8 gnd Regelung (DE-588)4048971-1 gnd Humanoider Roboter (DE-588)7576811-2 gnd |
| topic_facet | Schreitroboter Mehrkörpersystem Bipedie Regelung Humanoider Roboter Hochschulschrift |
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