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You searched for +publisher:"Texas Digital Library" +contributor:("Ames, Aaron D"). Showing records 1 – 2 of 2 total matches.

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1. Powell, Matthew Joseph. Robot Locomotion Controller Generation Through Human-Inspired Optimization.

Degree: 2013, Texas Digital Library

This thesis presents an approach to the formal design, optimization and implementation of bipedal robotic walking controllers, with experimental application on two biped platforms. Standard rigid-body modeling is used to construct a hybrid sys- tem model of robotic walking; this model estimates the motion of the robot hardware under a given control action. The primary objective of this thesis is the construction of a control law which effects, on the robot, a periodic ???walking??? behavior. The pro- cess begins with examination of human walking data???specifically outputs of human walking???which provide inspiration for the construction of formal walking control laws. These controllers drive the robot to a low-dimensional representation, termed the partial hybrid zero dynamics, which is shaped by the parameters of the outputs describing the human output data. The main result of this paper is an optimization problem that produces a low-dimensional representation that ???best??? fits the human data while simultaneously enforcing constraints that ensure a stable periodic orbit and constraints which model the physical limitations of the robot hardware. This formal result is demonstrated through simulation and utilized to obtain 3D walking experimentally with an Aldebaran NAO robot and NASA???s prototype Leg Testbed robot. Advisors/Committee Members: Ames, Aaron D (advisor).

Subjects/Keywords: Robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Powell, M. J. (2013). Robot Locomotion Controller Generation Through Human-Inspired Optimization. (Thesis). Texas Digital Library. Retrieved from http://hdl.handle.net/1969; http://hdl.handle.net/2249.1/66579

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Powell, Matthew Joseph. “Robot Locomotion Controller Generation Through Human-Inspired Optimization.” 2013. Thesis, Texas Digital Library. Accessed February 20, 2019. http://hdl.handle.net/1969; http://hdl.handle.net/2249.1/66579.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Powell, Matthew Joseph. “Robot Locomotion Controller Generation Through Human-Inspired Optimization.” 2013. Web. 20 Feb 2019.

Vancouver:

Powell MJ. Robot Locomotion Controller Generation Through Human-Inspired Optimization. [Internet] [Thesis]. Texas Digital Library; 2013. [cited 2019 Feb 20]. Available from: http://hdl.handle.net/1969; http://hdl.handle.net/2249.1/66579.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Powell MJ. Robot Locomotion Controller Generation Through Human-Inspired Optimization. [Thesis]. Texas Digital Library; 2013. Available from: http://hdl.handle.net/1969; http://hdl.handle.net/2249.1/66579

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

2. Lack, Jordan Thomas. Planar Multicontact Locomotion Using Hybrid Zero Dynamics.

Degree: 2013, Texas Digital Library

This thesis proposes a method for generating multi-contact, humanlike locomotion via a human-inspired optimization. The chief objective of this work is to offer an initial solution for obtaining multi-domain walking gaits containing domains with differing degrees of actuation. Motivated by the fact that locomotion inherently includes impacts, a hybrid systems approach is used. Through Lagrangian mechanics, a dynamic model of the system is derived that governs the continuous dynamics, while the dynamics during the impacts are modeled assuming perfectly plastic impacts in which the ground imparts an impulsive force on the impacting link. Using the dynamic model of the planar bipedal robot Amber 2, a seven link biped, a human-inspired optimization is presented which leverages the concept of zero dynamics, allowing for a low dimensional representation of the full order dynamics. Within the optimization, constraints are constructed based on the interaction be- tween the robot and the walking surface that ensure the optimized gait is physically realizable. Other constraints can be used to influence or ???shape??? the optimized walking gait such as kinematic and/or torque constraints. This optimized walking gait is then realized through the method of Input/Output Linearization. Finally, the utilization of online optimization in the form of a quadratic program increase the capabilities of simple Input/Output Linearization by introducing a notion of optimality as well as the ability to distribute torque as necessary to meet actuator requirements. Ultimately the combination of the flexability of the human-inspired optimization along with the controllers described result in not only multi-domain human-like walking, but even more importantly a tool for rapidly designing new walking gaits. Advisors/Committee Members: Ames, Aaron D (advisor).

Subjects/Keywords: Robot

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Lack, J. T. (2013). Planar Multicontact Locomotion Using Hybrid Zero Dynamics. (Thesis). Texas Digital Library. Retrieved from http://hdl.handle.net/1969; http://hdl.handle.net/2249.1/66726

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16th Edition):

Lack, Jordan Thomas. “Planar Multicontact Locomotion Using Hybrid Zero Dynamics.” 2013. Thesis, Texas Digital Library. Accessed February 20, 2019. http://hdl.handle.net/1969; http://hdl.handle.net/2249.1/66726.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7th Edition):

Lack, Jordan Thomas. “Planar Multicontact Locomotion Using Hybrid Zero Dynamics.” 2013. Web. 20 Feb 2019.

Vancouver:

Lack JT. Planar Multicontact Locomotion Using Hybrid Zero Dynamics. [Internet] [Thesis]. Texas Digital Library; 2013. [cited 2019 Feb 20]. Available from: http://hdl.handle.net/1969; http://hdl.handle.net/2249.1/66726.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Lack JT. Planar Multicontact Locomotion Using Hybrid Zero Dynamics. [Thesis]. Texas Digital Library; 2013. Available from: http://hdl.handle.net/1969; http://hdl.handle.net/2249.1/66726

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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