國立虎尾科技大學 |

A foot placement strategy for robust bipedal gait control.

Record Type:	Language materials, manuscript : Monograph/item
Title/Author:	A foot placement strategy for robust bipedal gait control./
Author:	Wight, Derek L.
Description:	1 online resource (210 pages)
Notes:	Source: Dissertation Abstracts International, Volume: 69-11, Section: B, page: 7120.
Contained By:	Dissertation Abstracts International69-11B.
Subject:	Robotics. -
Online resource:	click for full text (PQDT)
ISBN:	9780494433683

A foot placement strategy for robust bipedal gait control.
Wight, Derek L.

A foot placement strategy for robust bipedal gait control. - 1 online resource (210 pages)

Source: Dissertation Abstracts International, Volume: 69-11, Section: B, page: 7120.

Thesis (Ph.D.)--University of Waterloo (Canada), 2008.

Includes bibliographical references

This thesis introduces a new measure of balance for bipedal robotics called the foot placement estimator (FPE). To develop this measure, stability first is defined for a simple biped. A proof of the stability of a simple biped in a controls sense is shown to exist using classical methods for nonlinear systems. With the addition of a contact model, an analytical solution is provided to define the bounds of the region of stability. This provides the basis for the FPE which estimates where the biped must step in order to be stable. By using the FPE in combination with a state machine, complete gait cycles are created without any precalculated trajectories. This includes gait initiation and termination. The bipedal model is then advanced to include more realistic mechanical and environmental models and the FPE approach is verified in a dynamic simulation. From these results, a 5-link, point-foot robot is designed and constructed to provide the final validation that the FPE can be used to provide closed-loop gait control. In addition, this approach is shown to demonstrate significant robustness to external disturbances. Finally, the FPE is shown in experimental results to be an unprecedented estimate of where humans place their feet for walking and jumping, and for stepping in response to an external disturbance.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9780494433683Subjects--Topical Terms:

561941
Robotics.
Index Terms--Genre/Form:

554714
Electronic books.

A foot placement strategy for robust bipedal gait control.
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100 1 $a Wight, Derek L. $3 1189610
245 1 2 $a A foot placement strategy for robust bipedal gait control.
264 0 $c 2008
300 $a 1 online resource (210 pages)
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500 $a Source: Dissertation Abstracts International, Volume: 69-11, Section: B, page: 7120.
502 $a Thesis (Ph.D.)--University of Waterloo (Canada), 2008.
504 $a Includes bibliographical references
520 $a This thesis introduces a new measure of balance for bipedal robotics called the foot placement estimator (FPE). To develop this measure, stability first is defined for a simple biped. A proof of the stability of a simple biped in a controls sense is shown to exist using classical methods for nonlinear systems. With the addition of a contact model, an analytical solution is provided to define the bounds of the region of stability. This provides the basis for the FPE which estimates where the biped must step in order to be stable. By using the FPE in combination with a state machine, complete gait cycles are created without any precalculated trajectories. This includes gait initiation and termination. The bipedal model is then advanced to include more realistic mechanical and environmental models and the FPE approach is verified in a dynamic simulation. From these results, a 5-link, point-foot robot is designed and constructed to provide the final validation that the FPE can be used to provide closed-loop gait control. In addition, this approach is shown to demonstrate significant robustness to external disturbances. Finally, the FPE is shown in experimental results to be an unprecedented estimate of where humans place their feet for walking and jumping, and for stepping in response to an external disturbance.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Robotics. $3 561941
655 7 $a Electronic books. $2 local $3 554714
690 $a 0771
710 2 $a ProQuest Information and Learning Co. $3 1178819
710 2 $a University of Waterloo (Canada). $3 1189609
773 0 $t Dissertation Abstracts International $g 69-11B.
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=NR43368 $z click for full text (PQDT)