Type of Document	Dissertation
Author	Huang, Chuen-Chane
URN	etd-10132005-152542
Title	Biped robot with a vestibular system
Degree	PhD
Department	Engineering Mechanics
Advisory Committee	Advisor Name Title Grant, J. Walter Committee Chair Robertshaw, Harry H. Committee Member Singh, Mahendra P. Committee Member Smith, Charles W. Committee Member Telionis, Demetri P. Committee Member
Keywords	Gravity Robots Motion Walking
Date of Defense	1991-12-01
Availability	restricted
Abstract 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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