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 13 of 13 for “"inverted pendulum model"”.
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The use of inertial measurement units for the determination of gait spatio-temporal parameters
… study addressed the validity of the IMU and inverted pendulum model measurements within PD and also explored the inter-rater reliability of the measurement. In the third study the optimisation of the inverted pendulum model driven by IMU data was explored when comparing to standardised …
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Analysis of walking and balancing models actuated and controlled by ankles
… locomotion. I investigate the dynamics of simple models actuated by ankles alone. To assess the contribution of ankle actuation to locomotion, I first analyze the dynamics of some passive walkers without any joint torque. These passive walkers include a rimless wheel model and springy-legged …
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Visual-Oculomotor and Head Movement Strategies in Postural Control
… was grounded in the premise that if the inverted pendulum model of COM were to be extended to include the head, then movement patterns between head position and COM would be tightly coupled. Results from this study reflected strong linear relationships between head position and COM, with …
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Biped walking control design based on zero moment point dynamics
… method using boundedness solutions of Linear Inverted Pendulum Model is studied and implemented as a replanning algorithm. Stabilizers for walking trajectory tracking are investigated and evaluated, with an emphasis on the Whole Body Cooperation method, which is then implemented along with the …
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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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Postural control in persons with multiple sclerosis: an investigation of dual task cost and physical modeling
… goal. The second study investigates a bi-planar inverted pendulum model of postural control for persons with MS with high and low spasticity. The inverted pendulum model was used to determine the underlying differences in the control strategies of a group of healthy adults compared to a group of …
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Balance control and locomotion planning for humanoid robots using nonlinear centroidal models
… have traditionally relied on low-dimensional models for locomotion planning and reactive balance control. Results for the low-dimensional model are mapped to the full robot, and used as inputs to a whole-body controller. In particular, the linear inverted pendulum (LIP) has long been the de …
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Human Inspired Robot Walking Pattern Planning
… 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, Zero …
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A Modeling Investigation of Obesity and Balance Recovery
… of laboratory experiments and mathematical modeling. Nine male subjects with BMI 30.1 to 36.9 kg/m² were released from a forward lean and attempted to recover balance using an ankle strategy. Lean angle was increased until subjects required a step or hip flexion to recover balance. The …
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Dynamic Analysis of Musculoskeletal System Performances during Human Standing and Walking
… an improved Hill-type muscle model was developed to describe the dynamic response of a musculotendon unit subjected to neural excitation by considering more physiological characteristics of skeletal muscles. The dynamic process from neural input through to muscular force …
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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
… 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 tracking …
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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, …