Type of Document Master's Thesis Author Trout, Joseph Ewell URN etd-12032003-125645 Title Trajectory Tracking of a Statically-stable Biped with Two Degrees of Freedom Degree Master of Science Department Mechanical Engineering Advisory Committee
Advisor Name Title Kachroo, Pushkin Committee Co-Chair Saunders, William R. Committee Co-Chair Leo, Donald J. Committee Member Keywords
- Static Stability
Date of Defense 2003-10-03 Availability unrestricted AbstractThis research investigates the possibility of controlling a simple biped having two degrees of freedom only. The biped robot walked on large feet. Having large feet enabled the robot to stand on one leg stably. At any time, the robot's center of gravity remained above the area covered by one of the feet. Two servos actuated the two degrees of freedom tilting the robot to the side or moving the legs forward and backward. The biped moved by alternately tilting and striding. Turns were produced by dragging the feet along the ground. As the feet dragged, the friction generated under the feet created a turning moment that rotated the robot. Thus, the robot was able to step and turn on a flat surface.
A control algorithm was developed to attempt trajectory tracking with the biped. Trajectories along a surface can be defined in terms of linear and angular velocities. In this research, it was assumed that a high level controller had transformed a desired trajectory into discrete steps of linear and angular velocities. Motion tests showed how various settings of the servos affected the step length and turning angle of the robot. To produce the desired velocities, a program was created to select the servo commands and set the speed parameters. This program applied knowledge of the expected step length and turning angle and performed feedforward control of the velocities. This investigation identified a trajectory tracking scheme that could be used in an observer feedback scenario to achieve accurate control.
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