Towards energy-efficient limit-cycle walking in biped service robots: design analysis, modeling and experimental study of biped robot actuated by linear motors

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dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en Peralta Cabezas, José Luis 2013-12-17T10:00:51Z 2013-12-17T10:00:51Z 2013
dc.identifier.isbn 978-952-60-5488-9 (electronic)
dc.identifier.isbn 978-952-60-5487-2 (printed)
dc.identifier.issn 1799-4942 (electronic)
dc.identifier.issn 1799-4934 (printed)
dc.identifier.issn 1799-4934 (ISSN-L)
dc.description.abstract Researchers have been studying biped robots for many years, and, while many advances in the field have been accomplished, there still remain the challenge to transfer the existing solutions into real applications. The main issues are related to mobility and autonomy. In mobility, biped robots have evolved greatly, nevertheless they are still far from what a human can do in the work-site. Similarly, autonomy of biped platforms has been tackled on several different grounds, but its core problem still remains, and it is associated to energy issues. Because of these energy issues, lately the main attention has been redirected to the long term autonomy of the biped robotics platforms. For that, much effort has been made to develop new more energy-efficient biped robots. The GIMBiped project in Aalto University was established to tackle the previous issues in energy efficiency and mobility, through the study and implementation of dynamic and energy-efficient bipedal robotic waking. This thesis falls into the first studies needed to achieve the previous goal using the GIMBiped testbed, starting with a detailed analysis of the nonlinear dynamics of the target system, using a modeling and simulation tools. This work also presents an assessment of different control techniques based on Limit Cycle walking, carried out on a two-dimensional kneed bipedal simulator. Furthermore, a numerical continuation analysis of the mechanical parameters of the first GIMBiped prototype was performed, using the same approximated planar kneed biped model. This study is done to analyze the effect that such variations in the mechanical design parameters produce in the stability and energy-efficiency of the system.Finally, experiments were performed in the GIMBiped testbed. These experiments show the results of a hybrid control technique proposed by the author, which combines traditional ZMP-based walking approach with a Limit Cycle trajectory-following control. Furthermore the results of a pure ZMP-based type of control are also presented.  en
dc.format.extent 256
dc.format.mimetype application/pdf
dc.language.iso en en
dc.publisher Aalto University en
dc.publisher Aalto-yliopisto fi
dc.relation.ispartofseries Aalto University publication series DOCTORAL DISSERTATIONS en
dc.relation.ispartofseries 209/2013
dc.subject.other Automation en
dc.title Towards energy-efficient limit-cycle walking in biped service robots: design analysis, modeling and experimental study of biped robot actuated by linear motors en
dc.type G4 Monografiaväitöskirja fi Sähkötekniikan korkeakoulu fi School of Electrical Engineering en
dc.contributor.department Automaatio- ja systeemitekniikan laitos fi
dc.contributor.department Department of Automation and Systems Technology en
dc.subject.keyword bipedal robotic walking en
dc.subject.keyword biped robots en
dc.subject.keyword nonlinear dynamics en
dc.subject.keyword limit cycle en
dc.subject.keyword limit cycle walking en
dc.subject.keyword ZMP-based walking en
dc.subject.keyword numerical continuation. en
dc.identifier.urn URN:ISBN:978-952-60-5488-9
dc.type.dcmitype text en
dc.type.ontasot Doctoral dissertation (monograph) en
dc.type.ontasot Väitöskirja (monografia) fi
dc.contributor.supervisor Halme, Aarne, Prof., Aalto University, Department of Automation and Systems Technology, Finland
dc.opn Ruina, Andy, Prof., Sibley School of Mechanical and Aerospace Engineering, Cornell University, NY, USA
dc.rev Armada, Manual A., Prof., Industrial Automation Institute - Spanish Council for Scientific Research (CSIC), Madrid, Spain
dc.rev Vanderborght, Bram, Prof., Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium 2013-12-17

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