Title page for ETD etd-10132005-152542
|Type of Document
||Biped robot with a vestibular system
|Grant, J. Walter
|Robertshaw, Harry H.
|Singh, Mahendra P.
|Smith, Charles W.
|Telionis, Demetri P.
- Robots Motion
|Date of Defense
The kinematics and dynamics of two legged or biped walking is considered. The
resulting governing equations include actuator torques for a robot and muscle
generated torques for a human. These torques are those necessary at each joint of a
leg, including the foot, for a successful stride. The equations are developed from a
consistent set variables with respect to a single inertial reference frame. This single
reference frame approach has not been used by previous investigators.
Control of the joint torques makes biped walking an extraordinary complex
problem from a dynamics and control viewpoint. The control scheme that is developed
incorporates the use of the direction of gravity as an important element in the overall
control. The inclusion of gravity in biped robot walking has not previously been
properly considered in other works.
A way is described to separate gravity and acceleration which are measured by an
accelerometer which is on the robot. This system incorporates the use of angular
motion sensing of the robot segment that contains the linear accelerometers. This
system was formulated based on human motion sensing and what probably is present
in the human central nervous system for processing these signals.
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