Energy and stability considerations for biped robots with passive elements:
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: | Inhaltsverzeichnis |
| Physical Description: | X, 117 S. graph. Darst. |
| ISBN: | 9783843901543 |
Staff View
MARC
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| 100 | 1 | |a Förg, Daniela H. |e Verfasser |0 (DE-588)1017133344 |4 aut | |
| 245 | 1 | 0 | |a Energy and stability considerations for biped robots with passive elements |c Daniela H. Förg |
| 250 | |a 1. Aufl. | ||
| 264 | 1 | |a München |b Verl. Dr. Hut |c 2011 | |
| 300 | |a X, 117 S. |b graph. Darst. | ||
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| 490 | 0 | |a Robotik und Automation | |
| 502 | |a Zugl.: München, Techn. Univ., Diss., 2011 | ||
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Record in the Search Index
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| adam_text | IMAGE 1
IX
CONTENTS
1. INTRODUCTION 1
1.1. PROBLEM STATEMENT 1
1.2. BACKGROUND AND RELATED WORK 2
1.2.1. BIOLOGICAL ASPECTS 2
1.2.2. BIPEDAL WALKING MACHINES 3
1.2.3. STABILITY OF BIPEDAL GAIT 7
1.3. THESIS OUTLINE 9
2. THE MODELS 11
2.1. MULTIBODY SYSTEM DESCRIPTION AND SIMULATION 11
2.1.1. DYNAMICS OF MULTIBODY SYSTEMS AND FORCE LAWS 11
2.1.2. MBSIM MULTI BODY SIMULATION SOFTWARE 13
2.1.3. MODEL S STRUCTURE AND MODULE ROBOTICS 14
2.2. THE MULTIBODY ROBOT MODELS 14
2.2.1. PASSIVE INSPIRED MODEL 14
2.2.2. ACTUATED MODEL 17
2.3. SPECIAL ELEMENTS 20
2.3.1. PASSIVE ELEMENTS 20
2.3.2. DRIVE TRAIN 21
2.4. SUMMARY CHAPTER 2 23
3. STABILITY OF PERIODIC MOTION 25
3.1. DEFINITIONS AND TERMINOLOGY 25
3.2. STABILITY THEORY FOR PERIODIC SOLUTIONS 26
3.2.1. MATHEMATICAL DEFINITION OF STABILITY 26
3.2.2. LINEAR SYSTEMS WITH CONSTANT COEFFICIENTS 27
3.2.3. LINEAR SYSTEMS WITH PERIODIC COEFFICIENTS - FLOQUET THEORY 27
3.2.4. NONLINEAR SYSTEMS - LIAPUNOV S FIRST METHOD 28
3.2.5. REMARKS ABOUT LIAPUNOV S SECOND METHOD 29
3.3. STABILITY IN PRACTICE - DISTURBANCE REJECTION MEASURES 30
3.3.1. BASIN OF ATTRACTION 30
3.3.2. LARGEST FLOQUET MULTIPLIER 30
3.3.3. GAIT SENSITIVITY NORM 30
3.4. SUMMARY CHAPTER 3 31
4. NUMERICAL METHODS 33
4.1. PARAMETER DETERMINATION USING OPTIMISATION 33
4.1.1. OPTIMISATION PROBLEM 33
4.1.2. OPTIMISATION ALGORITHMS 34
4.1.3. INTEGRATION IN SOFTWARE STRUCTURE 36
4.2. GENERATION OF PERIODIC SOLUTIONS 37
4.2.1. SHOOTING METHOD 37
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1017389357
DIGITALISIERT DURCH
IMAGE 2
CONTENTS
4.2.2. MULTIPLE SHOOTING 38
4.3. SUMMARY CHAPTER 4 39
5. ANALYSIS OF THE PASSIVE MODEL 41
5.1. PROOF OF CONCEPT 41
5.1.1. BASIC CONSIDERATIONS REGARDING STABILITY AND SENSITIVITY 41
5.1.2. PROOF FOR A THREE DIMENSIONAL MODEL 43
5.2. OBJECTIVE FUNCTION 44
5.2.1. STATIC CASE - STANDING WALKER 44
5.2.2. DYNAMIC CASE - WALKING MODEL 44
5.3. SENSITIVITY ANALYSIS 45
5.3.1. SINGLE PARAMETER VARIATION FOR THE LINEAR MODEL 45
5.3.2. MULTI PARAMETER VARIATION FOR THE LINEAR MODEL 47
5.3.3. SINGLE AND MULTI PARAMETER VARIATION FOR THE NONLINEAR MODEL . ..
48 5.4. BASIS FOR PARAMETER DETERMINATION 48
5.4.1. COMPARISON OF OBJECTIVE FUNCTIONS FOR THE STATIC CASE 48 5.4.2.
COMPARISON OF OPTIMISATION ALGORITHMS 50
5.4.3. DETERMINED PARAMETER SET 55
5.5. ENERGY CONSUMPTION 56
5.6. STABILITY AND ROBUSTNESS ON A DISTURBED GAIT CYCLE 57
5.6.1. STABILITY 57
5.6.2. ROBUSTNESS 59
5.7. SUMMARY CHAPTER 5 65
6. STUDY OF THE ACTUATED MODEL 67
6.1. MOTIVATION FOR ENERGY SAVING 67
6.2. STRATEGIES FOR ENERGY SAVING 68
6.2.1. TORQUE-SHIFTING APPROACH 68
6.2.2. RECUPERATION 72
6.2.3. MODIFIED TORQUE-SHIFTING APPROACH 74
6.3. ENERGY CONSUMPTION 76
6.3.1. RESULTS FOR TORQUE-SHIFTING APPROACH 76
6.3.2. RESULTS FOR RECUPERATION 82
6.3.3. RESULTS FOR MODIFIED TORQUE-SHIFTING 84
6.3.4. INFLUENCE OF THE NUMBER OF MOTORS 84
6.3.5. INFLUENCE OF THE ROBOT 87
6.4. STABILITY AND ROBUSTNESS 90
6.4.1. STABILITY 90
6.4.2. ROBUSTNESS ON PERTURBATIONS 92
6.5. TECHNICAL FEASIBILITY 94
6.6. SUMMARY CHAPTER 6 95
7. CONCLUSION 97
7.1. SUMMARY 97
7.2. DISCUSSION AND OUTLOOK 98
A. APPENDIX 101
|
| any_adam_object | 1 |
| author | Förg, Daniela H. |
| author_GND | (DE-588)1017133344 |
| author_facet | Förg, Daniela H. |
| author_role | aut |
| author_sort | Förg, Daniela H. |
| author_variant | d h f dh dhf |
| building | Verbundindex |
| bvnumber | BV039704233 |
| classification_tum | FER 986d MTA 580d |
| ctrlnum | (OCoLC)767779883 (DE-599)BVBBV039704233 |
| dewey-full | 629.8932 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.8932 |
| dewey-search | 629.8932 |
| dewey-sort | 3629.8932 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Physik Fertigungstechnik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. Aufl. |
| format | Thesis Book |
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| indexdate | 2024-07-10T00:09:22Z |
| institution | BVB |
| isbn | 9783843901543 |
| language | English |
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| publishDate | 2011 |
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| spelling | Förg, Daniela H. Verfasser (DE-588)1017133344 aut Energy and stability considerations for biped robots with passive elements Daniela H. Förg 1. Aufl. München Verl. Dr. Hut 2011 X, 117 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Robotik und Automation Zugl.: München, Techn. Univ., Diss., 2011 Passive Schwingungsdämpfung (DE-588)4363857-0 gnd rswk-swf Stabilität (DE-588)4056693-6 gnd rswk-swf Mehrkörpersystem (DE-588)4038390-8 gnd rswk-swf Humanoider Roboter (DE-588)7576811-2 gnd rswk-swf Schreitroboter (DE-588)4281192-2 gnd rswk-swf Energieverbrauch (DE-588)4014733-2 gnd rswk-swf Bipedie (DE-588)4235947-8 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 Passive Schwingungsdämpfung (DE-588)4363857-0 s Stabilität (DE-588)4056693-6 s Energieverbrauch (DE-588)4014733-2 s DE-604 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024552700&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Förg, Daniela H. Energy and stability considerations for biped robots with passive elements Passive Schwingungsdämpfung (DE-588)4363857-0 gnd Stabilität (DE-588)4056693-6 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Humanoider Roboter (DE-588)7576811-2 gnd Schreitroboter (DE-588)4281192-2 gnd Energieverbrauch (DE-588)4014733-2 gnd Bipedie (DE-588)4235947-8 gnd |
| subject_GND | (DE-588)4363857-0 (DE-588)4056693-6 (DE-588)4038390-8 (DE-588)7576811-2 (DE-588)4281192-2 (DE-588)4014733-2 (DE-588)4235947-8 (DE-588)4113937-9 |
| title | Energy and stability considerations for biped robots with passive elements |
| title_auth | Energy and stability considerations for biped robots with passive elements |
| title_exact_search | Energy and stability considerations for biped robots with passive elements |
| title_full | Energy and stability considerations for biped robots with passive elements Daniela H. Förg |
| title_fullStr | Energy and stability considerations for biped robots with passive elements Daniela H. Förg |
| title_full_unstemmed | Energy and stability considerations for biped robots with passive elements Daniela H. Förg |
| title_short | Energy and stability considerations for biped robots with passive elements |
| title_sort | energy and stability considerations for biped robots with passive elements |
| topic | Passive Schwingungsdämpfung (DE-588)4363857-0 gnd Stabilität (DE-588)4056693-6 gnd Mehrkörpersystem (DE-588)4038390-8 gnd Humanoider Roboter (DE-588)7576811-2 gnd Schreitroboter (DE-588)4281192-2 gnd Energieverbrauch (DE-588)4014733-2 gnd Bipedie (DE-588)4235947-8 gnd |
| topic_facet | Passive Schwingungsdämpfung Stabilität Mehrkörpersystem Humanoider Roboter Schreitroboter Energieverbrauch Bipedie Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=024552700&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| work_keys_str_mv | AT forgdanielah energyandstabilityconsiderationsforbipedrobotswithpassiveelements |