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dc.contributor.authorSong, Seungmoonen
dc.date.accessioned2014-03-14T20:42:53Zen
dc.date.available2014-03-14T20:42:53Zen
dc.date.issued2010-07-23en
dc.identifier.otheretd-08062010-150543en
dc.identifier.urihttp://hdl.handle.net/10919/34390en
dc.description.abstractBipedal locomotion in humanoid robots is a very challenging problem within the field of robot locomotion. In this thesis, we propose and demonstrate an omni-directional walking engine that achieves stable walking using feedback from an inertial measurement unit. Our walking engine generates gaits for which the zero moment point is on the center of the supporting foot. The mechanical structure of CHARLI-L, a humanoid robot used as our test platform in this thesis, is first introduced by describing the inverse kinematics of its legs. The principles of the omni-directional gait generator that creates walking motions and overcomes the robot's mechanical deficiencies is discussed. We develop and implement two kinds of feedback controllers; one is the gait feedback controller and the other is the joint feedback controller. Both feedback controllers use proportional-derivative of the angle of the pelvis from an inertial measurement unit. The results of the experiments are presented the efficacy of our proposed walking engine.en
dc.publisherVirginia Techen
dc.relation.haspartSong_S_T_2__2010.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjecthumanoid robotsen
dc.subjectomni-directional locomotionen
dc.subjectbipedal walkingen
dc.subjectwalking stabilization with an inertial measurementen
dc.subjectzero moment pointen
dc.titleDevelopment of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robotsen
dc.typeThesisen
dc.contributor.departmentElectrical and Computer Engineeringen
dc.description.degreeMaster of Scienceen
thesis.degree.nameMaster of Scienceen
thesis.degree.levelmastersen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.disciplineElectrical and Computer Engineeringen
dc.contributor.committeememberHa, Dong Samen
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-08062010-150543/en
dc.contributor.committeecochairStilwell, Daniel J.en
dc.contributor.committeecochairHong, Dennis W.en
dc.date.sdate2010-08-06en
dc.date.rdate2010-08-19en
dc.date.adate2010-08-19en


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