• norsk
    • English
  • English 
    • norsk
    • English
  • Login
View Item 
  •   Home
  • Fakultet for informasjonsteknologi og elektroteknikk (IE)
  • Institutt for teknisk kybernetikk
  • View Item
  •   Home
  • Fakultet for informasjonsteknologi og elektroteknikk (IE)
  • Institutt for teknisk kybernetikk
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Planning Gaits for Underactuated Compass-Biped Robot With Torso

Pande, Fredrik
Master thesis
Thumbnail
View/Open
14528_FULLTEXT.pdf (2.408Mb)
14528_ATTACHMENT.zip (1.626Mb)
14528_COVER.pdf (1.556Mb)
URI
http://hdl.handle.net/11250/2408877
Date
2016
Metadata
Show full item record
Collections
  • Institutt for teknisk kybernetikk [2238]
Abstract
A structured approach to gait planning for a planar underactuated 3-link biped

robot is presented. The method of virtual holonomic constraints (VHC) is employed

to this end. It is shown how this method effectively reduces the dimensionality

of the problem and allows for the biped s dynamics to be re-written in reduced

form. The reduced dynamic system is then used to structure requirements for the

existence of periodic gait-cycles in the robot s state-space. The gait planning task

is then solved in a structured manner by organizing a numerical search that finds

parameterizations of the VHCs that lead to nominal gait cycles for the biped.
Publisher
NTNU

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit
 

 

Browse

ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDocument TypesJournalsThis CollectionBy Issue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

View Usage Statistics

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit