Improving the versatility of humanoid walking machines:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
München
Verl. Dr. Hut
2015
|
| Edition: | 1. Aufl. |
| Series: | Robotik und Automation
|
| Subjects: | |
| Online Access: | Inhaltstext Inhaltsverzeichnis |
| Physical Description: | X, 151 S. Ill., graph. Darst. 210 mm x 148 mm, 253 g |
| ISBN: | 9783843919531 3843919534 |
Staff View
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Record in the Search Index
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CONTENTS
1 INTRODUCTION 1
1.1 HISTORY 3
1.2 THESIS OUTLINE 4
2 HUMAN AND ANIMAL WALKING 7
2.1 HUMAN GAIT 7
2.2 PROPRIOCEPTION 10
2.3 NEUROBIOLOGY 12
3 HARDWARE 17
4 MODELING 23
4.1 LAWS OF MOTION 23
4.2 CENTER OF PRESSURE CONCEPT 25
4.3 ROBOT MODELS FOR REAL-TIME PLANNING 28
4.3.1 POINT MASS MODEL 29
4.3.2 LINEAR INVERTED PENDULUM MODEL 30
4.3.3 THREE POINT MASS MODEL 32
5 CONTROL SYSTEM 35
5.1 FINITE STATE MACHINE 35
5.2 TRAJECTORY PLANNING 35
5.3 STEP SEQUENCE 38
5.4 FOOTSTEP COLLISION AVOIDANCE 42
5.5 SPLINE COLLOCATION METHOD 44
6 PERIODIC REFERENCE TRAJECTORY PLANNING 49
6.1 FOOT TRAJECTORIES 52
6.2 CENTER OF PRESSURE TIAJECTORY 52
6.2.1 STANDING 54
6.2.2 WALKING (ORIGINAL) 55
6.2.3 OPTIMIZATION PROBLEM FORMULATION 56
6.2.4 ACTIVE SET STRATEGY 59
6.2.5 RESULTS 62
6.3 CENTER OF GRAVITY TRAJECTORY 65
IX
HTTP://D-NB.INFO/1066388350
X CONTENTS
7 IDEAL REFERENCE TRAJECTORY PLANNING 71
7.1 STEPSEQUENCE 72
7.2 BOUNDARY VALUE PROBLEM 73
7.2.1 DIVERGENT COMPONENT 75
7.2.2 SOLUTION METHODS 76
7.2.3 PROPOSED METHOD 77
7.3 FOOT TRAJECTORIES 79
7.4 CENTER OF PRESSURE TRAJECTORY 80
7.5 CENTER OF GRAVITY TVAJECTORY 81
7.6 OPTIMIZATION PROBLEM FORMULATION 86
7.7 COMPARISON 88
7.7.1 SCENARIO 1: CHANGE IN DIRECTUM 89
7.7.2 SCENARIO 2: START WALKING 90
8 NEUROBIOLOGICALLY MOTIVATED CONTROL SYSTEM COMPONENTS 93
8.1 SWING-TO-STANCE TRANSITION 94
8.2 STANCE-TO-SWING "FTANSITION 95
8.3 EXPERIMENTS 98
9 STOP TRAJECTORY 103
9.1 PROBLEM STATEMENT 104
9.2 TVAJECTORY GENERATION 104
9.3 OPTIMIZATION 107
9.4 COORDINATE TRANSFORMATION 109
10 SUMMARY 113
A GART PHASE DURATIONS 115
B STEP SEQUENCE PLANNING 117
B.L WALKING PARAMETERS 117
B.2 STEP LENGTH CALCULATION 117
B.3 SUPPORT POLYGONS 119
C IDEAL REFERENCE TRAJECTORY PLANNING 121
D STOP TRAJECTORY 123
D.L OPTIMIZATION VARIABLE BOUNDS 123
D.2 OBJECTIVE FUNCTION COEFFICIENTS 135
D.3 ROOTS OF CUBIC EQUATIONS 136
D.4 ROOTS OF QUARTIC EQUATIONS 137
E CONTACT SWITCHES 139 |
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| 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 | Maschinenbau / Maschinenwesen Physik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. Aufl. |
| format | Thesis Book |
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| isbn | 9783843919531 3843919534 |
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| physical | X, 151 S. Ill., graph. Darst. 210 mm x 148 mm, 253 g |
| publishDate | 2015 |
| publishDateSearch | 2015 |
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| publisher | Verl. Dr. Hut |
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| series2 | Robotik und Automation |
| spelling | Ewald, Alexander Verfasser aut Improving the versatility of humanoid walking machines Alexander Klaus Walter Ewald 1. Aufl. 201502 München Verl. Dr. Hut 2015 X, 151 S. Ill., graph. Darst. 210 mm x 148 mm, 253 g txt rdacontent n rdamedia nc rdacarrier Robotik und Automation Zugl.: München, Technische Universität, Diss., 2014 Schreitroboter (DE-588)4281192-2 gnd rswk-swf Bahnplanung (DE-588)4267628-9 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 Bahnplanung (DE-588)4267628-9 s DE-604 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=5146249&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=027806436&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Ewald, Alexander Improving the versatility of humanoid walking machines Schreitroboter (DE-588)4281192-2 gnd Bahnplanung (DE-588)4267628-9 gnd Humanoider Roboter (DE-588)7576811-2 gnd |
| subject_GND | (DE-588)4281192-2 (DE-588)4267628-9 (DE-588)7576811-2 (DE-588)4113937-9 |
| title | Improving the versatility of humanoid walking machines |
| title_auth | Improving the versatility of humanoid walking machines |
| title_exact_search | Improving the versatility of humanoid walking machines |
| title_full | Improving the versatility of humanoid walking machines Alexander Klaus Walter Ewald |
| title_fullStr | Improving the versatility of humanoid walking machines Alexander Klaus Walter Ewald |
| title_full_unstemmed | Improving the versatility of humanoid walking machines Alexander Klaus Walter Ewald |
| title_short | Improving the versatility of humanoid walking machines |
| title_sort | improving the versatility of humanoid walking machines |
| topic | Schreitroboter (DE-588)4281192-2 gnd Bahnplanung (DE-588)4267628-9 gnd Humanoider Roboter (DE-588)7576811-2 gnd |
| topic_facet | Schreitroboter Bahnplanung Humanoider Roboter Hochschulschrift |
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