Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 6 of 6 for “"Linear inverted pendulum model"”.
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Biped walking control design based on zero moment point dynamics
… 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 control based on Zero Moment Point dynamics. Starting with basic de nitions, a new …
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Biped walking trajectory design and stabilization
… point (ZMP) along with a simplified dynamics model, the linear inverted pendulum model (LIPM), to design a dynamically stable trajectory for the biped robot, based on given gaits. Two different approaches will be used for the trajectory generation: boundedness constraint and …
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Human Inspired Robot Walking Pattern Planning
… in order to compensate for lower limb movement, Linear Inverted Pendulum model and ZMP criterion are employed to obtain upper body trajectory satisfying whole robot walking dynamic stability. Keywords: Artificial Neural Networks, Radial Basis Functions, Bipedal Robot Walking, Trajectory Planning, …
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Design and Control of a Humanoid Robot, SAFFiR
… stability of bipedal systems in response to unmodelled dynamics. The hybrid position/force approach is shown through experiments to greatly extend humanoid capabilities to many types of terrain. With robust balancing ensured, walking trajectories are defined using an improved linear inverted …
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The Development of a Locomotion Interface for Virtual Reality Terrain Simulation
… estimation algorithm that is based on LIP (linear inverted pendulum) model and ZMP (zero-moment point). And the estimation method is further validated through two applications: an initial framework of tele-locomotion and VR interaction. In the first case, it uses estimated CoM motion as a …
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Safe Model Predictive Control for Robotic Manipulation and Locomotion
… have gained popularity in recent years, model-based methods are still widely developed. Advanced techniques, like Model Predictive Control (MPC), have been successfully applied unlocking complex motions for a wide range of robotic systems, from manipulators to legged robots. Nonetheless, …