Bipedal motion planning based on composite rigid body angular momentum resolution
Başlık çevirisi mevcut değil.
- Tez No: 401682
- Danışmanlar: PROF. ATSUO KAWAMURA
- Tez Türü: Doktora
- Konular: Bilgisayar Mühendisliği Bilimleri-Bilgisayar ve Kontrol, Elektrik ve Elektronik Mühendisliği, Computer Engineering and Computer Science and Control, Electrical and Electronics Engineering
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2010
- Dil: İngilizce
- Üniversite: Yokohoma National University
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Elektrik ve Bilgisayar Mühendisliği Ana Bilim Dalı
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 207
Özet
Özet yok.
Özet (Çeviri)
Starting from 1970s, humanoid robots have evolved in many aspects. However, they are still expected to be adapted within the social and dynamic human environment. Although requirements vary case to case, a physically well-adapted humanoid robot should function human-like versatile motion capabilities. In this case, angular momentum phenomenon appears to be a very important index in humanoid motion planning research. A bipedal motion planning based on angular momentum resolution is expected to generate more feasible and human-like dexterous walking, running and jumping cycles. As a result of widespread confusion, Zero Moment Point is considered to be a physical quantity that is comprised of inertial and gravitational forces. This definition is lacking intrinsic angular momentum rate change. Therefore, in this dissertation, we firstly show that rigid body angular momentum can be divided into two parts, a)Non-Intrinsic Terms and b)Intrinsic terms. Subsequently we prove that Zero Moment Point is simply obtained by differentiating both of these terms in a complete manner. Since all bipedal robots can be classified as composite rigid bodies, we set out from composite rigid body angular momentum phenomenon. Upon the necessity of versatile bipedal motion, this dissertation is aimed at presenting a technique to generate jumping, running and walking trajectories that can be applied to bipedal humanoid robots. To be able to obtain dynamically equilibrated support phases, we resolve composite rigid body angular momentum equation in polar coordinate systems, so that intrinsic angular momentum terms are included naturally. This fact is resulted in two important merits: • Unexpected stepping motions and undesired torso angle fluctuations are expected to be more restrainable comparing to using other methods in which intrinsic angular momentum information is ignored or zero-referenced. • The interference between motions in sagittal and lateral planes can be extracted. In this manuscript, the first merit is mainly investigated. Our proposed method is primarily developed for a planar one-legged robot to explore jumping dynamics. Subsequently, it is extended for 3-D case to generate bipedal jumping, running and walking motion. In conclusion, simulation and experimental results indicate that our proposed method is able to generate repetitive, dynamically equilibrated bipedal jumping, running and walking cycles that can be applied to humanoid bipedal robots for the sake of versatility.
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