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Showing 1 to 9 of 9 for “"Biped walking"”.

  1. Biped walking trajectory design and stabilization

    Xu, JifeiUniversity of Illinois at Urbana-Champaign2017

    Biped robot locomotion has been studied intensively for many decades, and one of the most challenging topics of study is the dynamic motion of the biped robot. This thesis will utilize the zero-moment point (ZMP) along with a simplified dynamics model, the linear inverted pendulum model (LIPM), to …

    uiuc Repository record

  2. Virtual model control of a biped walking robot

    Pratt, Jerry EMassachusetts Institute of Technology1995

    Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1995.

    mit Repository record

  3. Biped walking control design based on zero moment point dynamics

    Fan, YinaiUniversity of Illinois at Urbana-Champaign2017

    Biped walking control for humanoid robots has been a challenging yet promising research topic in the past decades. The complicated nonlinear dynamics and numerous degrees of freedom are the main obstacles for biped walking control. This thesis studies the complete control scheme of biped walking …

    uiuc Repository record

  4. Study of repeatable gait for planar five-link biped walking on level ground

    Ma, Bin,2004

    manitoba Repository record

  5. Hierarchical neural control of human postural balance and bipedal walking in sagittal plane

    Jo, Sungho, 1974-Massachusetts Institute of Technology2006

    … of sagittal planar human postural balance and biped walking to 1) investigate an explicit mechanism of the cerebrocerebellar and other related neural systems, 2) explain the principles of human postural balancing and biped walking control in terms of the central nervous systems, and 3) provide …

    mit Repository record

  6. Biped robot with a vestibular system

    Huang, Chuen-ChaneVirginia Tech1991

    The kinematics and dynamics of two legged or biped walking is considered. The resulting governing equations include actuator torques for a robot and muscle generated torques for a human. These torques are those necessary at each joint of a leg, including the foot, for a successful stride. The …

    vt Repository record

  7. Learning control of bipedal dynamic walking robots with neural networks

    Hu, Jianjuen, 1964-Massachusetts Institute of Technology1998

    … important performance requirements for a dynamic walking robot. Learning and adaptation can improve stability and robustness. This thesis explores such an adaptation capability through the use of neural networks. Three neural network models (BP, CMAC and RBF networks) are studied. The RBF network …

    mit Repository record

  8. ACTIVE HIP ACTUATION FOR WALKING BIPED WITH PASSIVE OPTION

    Ruiz, MarcUniversity of Kansas2011

    Biped robots are desired as the ideal solution over wheel vehicles when traversing over rough terrain due to the simplicity and efficiency when mimicking the natural and dynamic motion of a human gait. The Intelligent Systems and Automation Laboratory (ISAL) at the University of Kansas designed and …

    ku Repository record

  9. Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls

    Kljuno, ElvedinOhio University2012

    … novel approach of an actuation system design for bipedal robotic walkers. The new actuation system concept is, to a certain extent, a biomimetic solution based on biological walkers. It consists of using elastic cables to actuate a bipedal walking robot, where the motors, which are used for …

    ohiolink Repository record