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A Re-Evaluation of Adult-Size Bipedal Humanoids with Non-Backdrivable Actuators for Legged Locomotion- [electronic resource]
A Re-Evaluation of Adult-Size Bipedal Humanoids with Non-Backdrivable Actuators for Legged Locomotion- [electronic resource]
상세정보
- 자료유형
- 학위논문파일 국외
- 최종처리일시
- 20240214101209
- ISBN
- 9798379696399
- DDC
- 629.8
- 서명/저자
- A Re-Evaluation of Adult-Size Bipedal Humanoids with Non-Backdrivable Actuators for Legged Locomotion - [electronic resource]
- 발행사항
- [S.l.]: : University of California, Los Angeles., 2023
- 발행사항
- Ann Arbor : : ProQuest Dissertations & Theses,, 2023
- 형태사항
- 1 online resource(161 p.)
- 주기사항
- Source: Dissertations Abstracts International, Volume: 84-12, Section: B.
- 주기사항
- Includes supplementary digital materials.
- 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
- 요약This work focuses on how to implement modern online-reactive control strategies developed for robots with backdrivable actuators on robots with conventional high gear ratio, position controlled motors. The vast majority of robots today have motors like this.Robots with torque-controlled "proprioceptive" actuators which are backdrivable and have high torque density are currently being developed. However, there are still many situations in which robots with more traditional position-controlled, high gear-ratio actuators are more appropriate. For example, since actuator weight scales exponentially with size while torque scales linearly, it is still cost-prohibitive to use torque control for robots that are large and or very tall. In addition, backdrivable actuators typically require low latency communication to function and consume much more current than high gear ratio actuators because they are dampening motion during operation. Both restrictions can make these motors prohibitively difficult to use and expensive to obtain. For these reasons, research on robots with non-backdrivable actuators is still valuable.Many of the basic assumptions made for control systems are violated when using these actuators; with the intent to develop robots capable of dynamic, robust locomotion, we will attempt to categorize these obstacles, record the attempts to overcome them, explain why or why not the interventions were successful and finally, recommend paths of inquiry for future work.Contributions from this thesis project include creation of a bipedal robotic platform for locomotion experiments, multiple gait generators for bipedal robots with non-backdrivable actuators which were tested on physical hardware, investigation of methods to compensate for non-backdrivability during locomotion and several principles for designing control systems for dynamic, stable locomotion. Supplemental media included:1. dcm-disturbance-rejection-sim.mp4 2. dcm-omnidirectional-walking-sim.mp4 3. model-free-omnidirectional.mp4 4. parametric-lip-gait-robocup.mp4 5. parametric-lip-omnidirectional-walking-sim.mp4 6. prelim-spline-based-traj-opt.mp4 7. prelim-sinusoidal-walk.mp4 8. time-optimal-com-mpc.mp4 9. walking in simulation.mp4.
- 일반주제명
- Robotics.
- 일반주제명
- Mechanical engineering.
- 일반주제명
- Computer science.
- 키워드
- Actuators
- 키워드
- Biped
- 키워드
- Motion planning
- 키워드
- Optimization
- 기타저자
- University of California, Los Angeles Mechanical Engineering 0330
- 기본자료저록
- Dissertations Abstracts International. 84-12B.
- 기본자료저록
- Dissertation Abstract International
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
008240612s2023 us |||||||||||||||c||eng d■001000016933149
■00520240214101209
■006m o d
■007cr#unu||||||||
■020 ▼a9798379696399
■035 ▼a(MiAaPQ)AAI30525383
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a629.8
■1001 ▼aSun, Daniel Andrew.
■24512▼aA Re-Evaluation of Adult-Size Bipedal Humanoids with Non-Backdrivable Actuators for Legged Locomotion▼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(161 p.)
■500 ▼aSource: Dissertations Abstracts International, Volume: 84-12, Section: B.
■500 ▼aIncludes supplementary digital materials.
■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 ▼aThis work focuses on how to implement modern online-reactive control strategies developed for robots with backdrivable actuators on robots with conventional high gear ratio, position controlled motors. The vast majority of robots today have motors like this.Robots with torque-controlled "proprioceptive" actuators which are backdrivable and have high torque density are currently being developed. However, there are still many situations in which robots with more traditional position-controlled, high gear-ratio actuators are more appropriate. For example, since actuator weight scales exponentially with size while torque scales linearly, it is still cost-prohibitive to use torque control for robots that are large and or very tall. In addition, backdrivable actuators typically require low latency communication to function and consume much more current than high gear ratio actuators because they are dampening motion during operation. Both restrictions can make these motors prohibitively difficult to use and expensive to obtain. For these reasons, research on robots with non-backdrivable actuators is still valuable.Many of the basic assumptions made for control systems are violated when using these actuators; with the intent to develop robots capable of dynamic, robust locomotion, we will attempt to categorize these obstacles, record the attempts to overcome them, explain why or why not the interventions were successful and finally, recommend paths of inquiry for future work.Contributions from this thesis project include creation of a bipedal robotic platform for locomotion experiments, multiple gait generators for bipedal robots with non-backdrivable actuators which were tested on physical hardware, investigation of methods to compensate for non-backdrivability during locomotion and several principles for designing control systems for dynamic, stable locomotion. Supplemental media included:1. dcm-disturbance-rejection-sim.mp4 2. dcm-omnidirectional-walking-sim.mp4 3. model-free-omnidirectional.mp4 4. parametric-lip-gait-robocup.mp4 5. parametric-lip-omnidirectional-walking-sim.mp4 6. prelim-spline-based-traj-opt.mp4 7. prelim-sinusoidal-walk.mp4 8. time-optimal-com-mpc.mp4 9. walking in simulation.mp4.
■590 ▼aSchool code: 0031.
■650 4▼aRobotics.
■650 4▼aMechanical engineering.
■650 4▼aComputer science.
■653 ▼aActuators
■653 ▼aBiped
■653 ▼aLegged locomotion
■653 ▼aMotion planning
■653 ▼aOptimization
■653 ▼aPhysical hardware
■690 ▼a0771
■690 ▼a0548
■690 ▼a0984
■71020▼aUniversity of California, Los Angeles▼bMechanical Engineering 0330.
■7730 ▼tDissertations Abstracts International▼g84-12B.
■773 ▼tDissertation Abstract International
■790 ▼a0031
■791 ▼aPh.D.
■792 ▼a2023
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T16933149▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
■980 ▼a202402▼f2024
