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Development of a hip actuated contro...

Morgan, Eric.

Development of a hip actuated controller to be used in passive walking robots.

レコード種別:	コンピュータ・メディア : 単行資料
正題名/作者:	Development of a hip actuated controller to be used in passive walking robots./
作者:	Morgan, Eric.
面頁冊數:	47 p.
附註:	Source: Masters Abstracts International, Volume: 43-05, page: 1799.
Contained By:	Masters Abstracts International43-05.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1425615
ISBN:	9780496987146

Development of a hip actuated controller to be used in passive walking robots.
Morgan, Eric.

Development of a hip actuated controller to be used in passive walking robots. - 47 p.

Source: Masters Abstracts International, Volume: 43-05, page: 1799.

Thesis (M.S.M.E.)--Southern Methodist University, 2005.

This thesis discusses the application of using pneumatic force actuators at the hips of a five link robotic system to provide a controllable input torque. The goal of this research is to provide a base to build upon to eventually produce a "active" biped walking robot that utilizes the benefits of the passive walking cycle.

ISBN: 9780496987146Subjects--Topical Terms:

170925
Engineering, Mechanical.

Development of a hip actuated controller to be used in passive walking robots.
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245 1 0 $a Development of a hip actuated controller to be used in passive walking robots.
300 $a 47 p.
500 $a Source: Masters Abstracts International, Volume: 43-05, page: 1799.
500 $a Adviser: Yildirim Hurmuzlu.
502 $a Thesis (M.S.M.E.)--Southern Methodist University, 2005.
520 $a This thesis discusses the application of using pneumatic force actuators at the hips of a five link robotic system to provide a controllable input torque. The goal of this research is to provide a base to build upon to eventually produce a "active" biped walking robot that utilizes the benefits of the passive walking cycle.
520 $a A reduced order mathematical model of the system consisting of the pneumatic proportional valve and actuators is utilized in designing the force controller. The model takes into account tube links, valve friction, piston friction, and valve mechanics. The five link robot is also modeled including moments of inertia, masses, and centers of mass in order to design the trajectory controller. The mathematical models provide the equations necessary to develop the nonlinear control laws based on Sliding Mode Control Theory for both the force and trajectory controller. (Abstract shortened by UMI.)
590 $a School code: 0210.
650 4 $a Engineering, Mechanical. $3 170925
650 4 $a Artificial Intelligence. $3 165300
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690 $a 0800
710 2 0 $a Southern Methodist University. $3 1000005873
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790 1 0 $a Hurmuzlu, Yildirim, $e advisor
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792 $a 2005
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