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Design, Fabrication, and Dynamic Gait Control for a Novel Buoyancy Assisted Bipedal Robot- [electronic resource]
Design, Fabrication, and Dynamic Gait Control for a Novel Buoyancy Assisted Bipedal Robot- [electronic resource]
상세정보
- 자료유형
- 학위논문파일 국외
- 최종처리일시
- 20240214101912
- ISBN
- 9798380350808
- DDC
- 629.8
- 서명/저자
- Design, Fabrication, and Dynamic Gait Control for a Novel Buoyancy Assisted Bipedal Robot - [electronic resource]
- 발행사항
- [S.l.]: : University of California, Los Angeles., 2023
- 발행사항
- Ann Arbor : : ProQuest Dissertations & Theses,, 2023
- 형태사항
- 1 online resource(150 p.)
- 주기사항
- Source: Dissertations Abstracts International, Volume: 85-03, Section: B.
- 주기사항
- Advisor: Hong, Dennis W.
- 학위논문주기
- Thesis (Ph.D.)--University of California, Los Angeles, 2023.
- 사용제한주기
- This item must not be sold to any third party vendors.
- 초록/해제
- 요약The advancement of the humanoid robotics field shows significant potential and progress, however humanoids still have many limitations. This is due to the complexities, cost, danger, and the functional limitations associated with the current state of this technology. This dissertation presents a new type of humanoid bipedal robot. It includes the invention, detailed design, software modeling, fabrication, testing, control, and motion analysis done on the robotic platform BALLU. Buoyancy Assisted Lightweight Legged Unit, or BALLU, is a safe, low cost, simple bipedal robot that uses a helium filled upper body, along with two thin carbon fiber legs. Due to the new architecture and buoyancy force, this robotic platform never falls down and is intrinsically stable. The main prototype version discussed is comparable in size to an adult human, and uses cable driven actuated knee joints for locomotion. The actuation components and the majority of the robot's weight are located on the feet. Even though each leg has only one active degree of freedom, BALLU can walk forwards and backwards, jump, turn, climb and descend stairs, and go over obstacles and rough terrain. Understanding its non-intuitive dynamics, along with correct actuation and timing and control of the knee joints is the key factor for these types of locomotion. Although BALLU's leg architecture is inspired and is reminiscent of traditional humanoids and human legs, this novel approach to humanoid design behaves drastically differently and is not modeled using traditional robotic locomotion methods. This dissertation includes the foundational understanding and categorization of this platform's behavior. The platform's physics, control, and locomotion strategies are specifically analyzed and explained in detail. This robotic platform is not intended to replace traditional humanoid robots, rather to introduce new possibilities and present an ultra-safe, low-cost, light-weight alternative tuned for specific applications. The main contribution of this thesis is organization and classification of behavior understanding, and proposing novel unique methods of movement and locomotion for a buoyancy assisted biped robot.
- 일반주제명
- Robotics.
- 일반주제명
- Biomechanics.
- 일반주제명
- Mechanical engineering.
- 키워드
- Bipedal
- 키워드
- Humanoid design
- 키워드
- Bipedal robot
- 키워드
- Knee joints
- 기타저자
- University of California, Los Angeles Mechanical Engineering 0330
- 기본자료저록
- Dissertations Abstracts International. 85-03B.
- 기본자료저록
- Dissertation Abstract International
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■00520240214101912
■006m o d
■007cr#unu||||||||
■020 ▼a9798380350808
■035 ▼a(MiAaPQ)AAI30686958
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a629.8
■1001 ▼aGhassemi, Sepehr.
■24510▼aDesign, Fabrication, and Dynamic Gait Control for a Novel Buoyancy Assisted Bipedal Robot▼h[electronic resource]
■260 ▼a[S.l.]:▼bUniversity of California, Los Angeles. ▼c2023
■260 1▼aAnn Arbor :▼bProQuest Dissertations & Theses, ▼c2023
■300 ▼a1 online resource(150 p.)
■500 ▼aSource: Dissertations Abstracts International, Volume: 85-03, Section: B.
■500 ▼aAdvisor: Hong, Dennis W.
■5021 ▼aThesis (Ph.D.)--University of California, Los Angeles, 2023.
■506 ▼aThis item must not be sold to any third party vendors.
■520 ▼aThe advancement of the humanoid robotics field shows significant potential and progress, however humanoids still have many limitations. This is due to the complexities, cost, danger, and the functional limitations associated with the current state of this technology. This dissertation presents a new type of humanoid bipedal robot. It includes the invention, detailed design, software modeling, fabrication, testing, control, and motion analysis done on the robotic platform BALLU. Buoyancy Assisted Lightweight Legged Unit, or BALLU, is a safe, low cost, simple bipedal robot that uses a helium filled upper body, along with two thin carbon fiber legs. Due to the new architecture and buoyancy force, this robotic platform never falls down and is intrinsically stable. The main prototype version discussed is comparable in size to an adult human, and uses cable driven actuated knee joints for locomotion. The actuation components and the majority of the robot's weight are located on the feet. Even though each leg has only one active degree of freedom, BALLU can walk forwards and backwards, jump, turn, climb and descend stairs, and go over obstacles and rough terrain. Understanding its non-intuitive dynamics, along with correct actuation and timing and control of the knee joints is the key factor for these types of locomotion. Although BALLU's leg architecture is inspired and is reminiscent of traditional humanoids and human legs, this novel approach to humanoid design behaves drastically differently and is not modeled using traditional robotic locomotion methods. This dissertation includes the foundational understanding and categorization of this platform's behavior. The platform's physics, control, and locomotion strategies are specifically analyzed and explained in detail. This robotic platform is not intended to replace traditional humanoid robots, rather to introduce new possibilities and present an ultra-safe, low-cost, light-weight alternative tuned for specific applications. The main contribution of this thesis is organization and classification of behavior understanding, and proposing novel unique methods of movement and locomotion for a buoyancy assisted biped robot.
■590 ▼aSchool code: 0031.
■650 4▼aRobotics.
■650 4▼aBiomechanics.
■650 4▼aMechanical engineering.
■653 ▼aNon-intuitive dynamics
■653 ▼aBipedal
■653 ▼aHumanoid design
■653 ▼aBipedal robot
■653 ▼aKnee joints
■690 ▼a0771
■690 ▼a0548
■690 ▼a0648
■71020▼aUniversity of California, Los Angeles▼bMechanical Engineering 0330.
■7730 ▼tDissertations Abstracts International▼g85-03B.
■773 ▼tDissertation Abstract International
■790 ▼a0031
■791 ▼aPh.D.
■792 ▼a2023
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T16935269▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
■980 ▼a202402▼f2024
