Symmetry Method for Limit Cycle Walking of Legged Robots.
dc.contributor.author | Razavi, Seyed Hamed | |
dc.date.accessioned | 2016-09-13T13:52:49Z | |
dc.date.available | NO_RESTRICTION | |
dc.date.available | 2016-09-13T13:52:49Z | |
dc.date.issued | 2016 | |
dc.date.submitted | 2016 | |
dc.identifier.uri | https://hdl.handle.net/2027.42/133356 | |
dc.description.abstract | Dynamic steady-state walking or running gaits for legged robots correspond to periodic orbits in the dynamic model. The common method for obtaining such periodic orbits is conducting a numerical search for fixed points of a Poincare map. However, as the number of degrees of freedom of the robot grows, such numerical search becomes computationally expensive because in each search trial the dynamic equations need to be integrated. Moreover, the numerical search for periodic orbits is in general sensitive to model errors, and it remains to be seen if the periodic orbit which is the outcome of the search in the domain of the dynamic model corresponds to a periodic gait in the actual robot. To overcome these issues, we have presented the Symmetry Method for Limit Cycle Walking, which relaxes the need to search for periodic orbits, and at the same time, the limit cycles obtained with this method are robust to model errors. Mathematically, we describe the symmetry method in the context of so-called Symmetric Hybrid Systems, whose properties are discussed. In particular, it is shown that a symmetric hybrid system can have an infinite number of periodic orbits that can be identified easily. In addition, it is shown how control strategies need to be selected so that the resulting reduced order system still possesses the properties of a symmetric hybrid system. The method of symmetry for limit cycle walking is successfully tested on a 12-DOF 3D model of the humanoid robot Romeo. | |
dc.language.iso | en_US | |
dc.subject | Dynamic Walking | |
dc.subject | Symmetry | |
dc.subject | Bipedal Robots | |
dc.subject | Periodic Walking | |
dc.subject | Stability | |
dc.title | Symmetry Method for Limit Cycle Walking of Legged Robots. | |
dc.type | Thesis | en_US |
dc.description.thesisdegreename | PhD | |
dc.description.thesisdegreediscipline | Applied and Interdisciplinary Mathematics | |
dc.description.thesisdegreegrantor | University of Michigan, Horace H. Rackham School of Graduate Studies | |
dc.contributor.committeemember | Bloch, Anthony M | |
dc.contributor.committeemember | Grizzle, Jessy W | |
dc.contributor.committeemember | Miller, Peter D | |
dc.contributor.committeemember | Revzen, Shai | |
dc.contributor.committeemember | Remy, C David | |
dc.subject.hlbsecondlevel | Computer Science | |
dc.subject.hlbsecondlevel | Electrical Engineering | |
dc.subject.hlbsecondlevel | Mechanical Engineering | |
dc.subject.hlbsecondlevel | Mathematics | |
dc.subject.hlbtoplevel | Engineering | |
dc.subject.hlbtoplevel | Science | |
dc.description.bitstreamurl | http://deepblue.lib.umich.edu/bitstream/2027.42/133356/1/razavi_1.pdf | |
dc.identifier.orcid | 0000-0003-1009-3821 | |
dc.identifier.name-orcid | Razavi, Hamed; 0000-0003-1009-3821 | en_US |
dc.owningcollname | Dissertations and Theses (Ph.D. and Master's) |
Files in this item
Remediation of Harmful Language
The University of Michigan Library aims to describe library materials in a way that respects the people and communities who create, use, and are represented in our collections. Report harmful or offensive language in catalog records, finding aids, or elsewhere in our collections anonymously through our metadata feedback form. More information at Remediation of Harmful Language.
Accessibility
If you are unable to use this file in its current format, please select the Contact Us link and we can modify it to make it more accessible to you.