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Ascending New Heights: Enhancing Bipedal Robotic Locomotion Through Stair Climbing
Ascending New Heights: Enhancing Bipedal Robotic Locomotion Through Stair Climbing
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20250211152057
- ISBN
- 9798382739274
- DDC
- 620
- 서명/저자
- Ascending New Heights: Enhancing Bipedal Robotic Locomotion Through Stair Climbing
- 발행사항
- [Sl] : University of Michigan, 2024
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2024
- 형태사항
- 134 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 85-12, Section: B.
- 주기사항
- Advisor: Grizzle, Jessy W.
- 학위논문주기
- Thesis (Ph.D.)--University of Michigan, 2024.
- 초록/해제
- 요약A new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of bipedal robots. This new paradigm, known as the Angular Linear Inverted Pendulum (ALIP) model, has shown effectiveness in cases where a robot's center of mass height can be assumed to be constant or near constant as well as in cases where there are no non-kinematic restrictions on foot placement. Walking up and down stairs violates both of these assumptions, where center of mass height varies significantly within a step and the geometry of the stairs restrict the effectiveness of foot placement.In this thesis, we explore a variation of the ALIP model that allows the length of the virtual pendulum formed by the robot's stance foot and center of mass to follow smooth trajectories during a step. We couple this model with a control strategy constructed from a novel combination of virtual constraint-based control and a model predictive control algorithm to stabilize a stair-climbing gait that does not solely rely on foot placement. Simulations on a 20-degree of freedom model of the Cassie biped in the SimMechanics simulation environment show that the controller is able to achieve periodic gait. Hardware experiments also show promise of improving the robustness of walking gaits on inclined surfaces.
- 일반주제명
- Engineering
- 일반주제명
- Robotics
- 일반주제명
- Automotive engineering
- 일반주제명
- Mechanics
- 키워드
- Humanoids
- 키워드
- Stair climbing
- 키워드
- Bipedal robots
- 기타저자
- University of Michigan Robotics
- 기본자료저록
- Dissertations Abstracts International. 85-12B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■00520250211152057
■006m o d
■007cr#unu||||||||
■020 ▼a9798382739274
■035 ▼a(MiAaPQ)AAI31348960
■035 ▼a(MiAaPQ)umichrackham005542
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a620
■1001 ▼aDosunmu-Ogunbi, Oluwami.
■24510▼aAscending New Heights: Enhancing Bipedal Robotic Locomotion Through Stair Climbing
■260 ▼a[Sl]▼bUniversity of Michigan▼c2024
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2024
■300 ▼a134 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 85-12, Section: B.
■500 ▼aAdvisor: Grizzle, Jessy W.
■5021 ▼aThesis (Ph.D.)--University of Michigan, 2024.
■520 ▼aA new control paradigm using angular momentum and foot placement as state variables in the linear inverted pendulum model has expanded the realm of possibilities for the control of bipedal robots. This new paradigm, known as the Angular Linear Inverted Pendulum (ALIP) model, has shown effectiveness in cases where a robot's center of mass height can be assumed to be constant or near constant as well as in cases where there are no non-kinematic restrictions on foot placement. Walking up and down stairs violates both of these assumptions, where center of mass height varies significantly within a step and the geometry of the stairs restrict the effectiveness of foot placement.In this thesis, we explore a variation of the ALIP model that allows the length of the virtual pendulum formed by the robot's stance foot and center of mass to follow smooth trajectories during a step. We couple this model with a control strategy constructed from a novel combination of virtual constraint-based control and a model predictive control algorithm to stabilize a stair-climbing gait that does not solely rely on foot placement. Simulations on a 20-degree of freedom model of the Cassie biped in the SimMechanics simulation environment show that the controller is able to achieve periodic gait. Hardware experiments also show promise of improving the robustness of walking gaits on inclined surfaces.
■590 ▼aSchool code: 0127.
■650 4▼aEngineering
■650 4▼aRobotics
■650 4▼aAutomotive engineering
■650 4▼aMechanics
■653 ▼aBipedal locomotion
■653 ▼aHumanoids
■653 ▼aStair climbing
■653 ▼aAngular Linear Inverted Pendulum
■653 ▼aBipedal robots
■690 ▼a0771
■690 ▼a0537
■690 ▼a0346
■690 ▼a0540
■71020▼aUniversity of Michigan▼bRobotics.
■7730 ▼tDissertations Abstracts International▼g85-12B.
■790 ▼a0127
■791 ▼aPh.D.
■792 ▼a2024
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17162810▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
