Trajectory Tracking of a Statically-stable Biped with Two Degrees of Freedom

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dc.contributor.authorTrout, Joseph Ewellen
dc.contributor.committeecochairSaunders, William R.en
dc.contributor.committeecochairKachroo, Pushkinen
dc.contributor.committeememberLeo, Donald J.en
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2011-08-06T14:43:43Zen
dc.date.adate2003-12-22en
dc.date.available2011-08-06T14:43:43Zen
dc.date.issued2003-10-03en
dc.date.rdate2003-12-22en
dc.date.sdate2003-12-03en
dc.description.abstractThis research investigates the possibility of controlling a simple biped having two degrees of freedom only. The biped robot walked on large feet. Having large feet enabled the robot to stand on one leg stably. At any time, the robotà ­s center of gravity remained above the area covered by one of the feet. Two servos actuated the two degrees of freedom tilting the robot to the side or moving the legs forward and backward. The biped moved by alternately tilting and striding. Turns were produced by dragging the feet along the ground. As the feet dragged, the friction generated under the feet created a turning moment that rotated the robot. Thus, the robot was able to step and turn on a flat surface. A control algorithm was developed to attempt trajectory tracking with the biped. Trajectories along a surface can be defined in terms of linear and angular velocities. In this research, it was assumed that a high level controller had transformed a desired trajectory into discrete steps of linear and angular velocities. Motion tests showed how various settings of the servos affected the step length and turning angle of the robot. To produce the desired velocities, a program was created to select the servo commands and set the speed parameters. This program applied knowledge of the expected step length and turning angle and performed feedforward control of the velocities. This investigation identified a trajectory tracking scheme that could be used in an observer feedback scenario to achieve accurate control.en
dc.description.degreeMaster of Scienceen
dc.format.mediumETDen
dc.identifier.otheretd-12032003-125645en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-12032003-125645en
dc.identifier.urihttp://hdl.handle.net/10919/9647en
dc.publisherVirginia Techen
dc.relation.haspartjtrout.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectControlen
dc.subjectAutonomousen
dc.subjectStatic Stabilityen
dc.subjectBipeden
dc.subjectRoboticen
dc.titleTrajectory Tracking of a Statically-stable Biped with Two Degrees of Freedomen
dc.typeThesisen
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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