Title page for ETD etd-10132005-152542

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
  • Gravity
  • Robots Motion
  • Walking
Date of Defense 1991-12-01
Availability restricted
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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