DEVELOPMENT OF A HIP ACTUATED CONTROLLER TO BE USED IN PASSIVE WALKING ROBOTS

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" DEVELOPMENT OF A HIP ACTUATED CONTROLLER TO BE USED IN PASSIVE WALKING ROBOTS "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	148977
Doc. No	:	ET20769
Main Entry	:	Eric Morgan
Title Proper	:	DEVELOPMENT OF A HIP ACTUATED CONTROLLER TO BE USED IN PASSIVE WALKING ROBOTS
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	This thesis discusses the application of using pneumatic force actuators at the hipsof a طve link robotic system to provide a controllable input torque. The goal of this researchis to provide a base to build upon to eventually produce a "active" biped walking robot thatutilizes the beneطts of the passive walking cycle.A reduced order mathematical model of the system consisting of the pneumatic pro-portional valve and actuators is utilized in designing the force controller. The model takesinto account tube links, valve friction, piston friction , and valve mechanics. The طve linkrobot is also modeled including moments of inertia, masses, and centers of mass in order todesign the trajectory controller. The mathematical models provide the equations necessary.
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL43913.pdf
Title and statement of responsibility and	:	DEVELOPMENT OF A HIP ACTUATED CONTROLLER TO BE USED IN PASSIVE WALKING ROBOTS [Thesis]