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 11 of 11 for “"zero moment point"”.
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Biped walking control design based on zero moment point dynamics
… control scheme of biped walking control based on Zero Moment Point dynamics. Starting with basic de nitions, a new trajectory planning method using boundedness solutions of Linear Inverted Pendulum Model is studied and implemented as a replanning algorithm. Stabilizers for walking trajectory …
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Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis
… walking. The ground reaction force (GRF) and the zero moment point (ZMP) are known to be basic parameters in bipedal balance control. This thesis focuses on the estimation of these parameters using two prostheses, a powered ankle-foot prototype and an instrumented, mechanically-passive prosthesis …
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Human Inspired Robot Walking Pattern Planning
… walking trajectory where limited numbers of breakpoints in both stable and unstable phase are identified. Consequently, positions of ankle, hip, and knee joints are derived for a seven link biped robot. In order to generate a smooth walking trajectory, a search for fast and efficient computation …
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Biped walking trajectory design and stabilization
… 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 design a dynamically stable trajectory for the biped robot, based on given gaits. Two different approaches will be used for the trajectory …
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Development of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robots
… Our walking engine generates gaits for which the zero moment point is on the center of the supporting foot. The mechanical structure of CHARLI-L, a humanoid robot used as our test platform in this thesis, is first introduced by describing the inverse kinematics of its legs. The principles of the …
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Biomimetic Bi-Pedal Humanoid: Design, Actuation, and Control Implementation with Focus on Robotic Legs
… torque to a six-foot tall human. Position and zero-moment point sensors were integrated for use in balancing, and a control architecture was developed. A model of the leg dynamics was created for designing balancing and walking algorithms. In addition, hydraulic actuators were evaluated for use …
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Robust multi-contact dynamical motion planning using contact wrench set
… a Center of Mass trajectory and an angular momentum trajectory, by solving a convex optimization problem. We show that this planner has similar output as the widely-used walking pattern generator that relies on Zero Moment Point (ZMP) on flat ground. Moreover, it can plan feasible motion on …
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Bipedal Walking for a Full Size Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption
… most bipedal walking methods, including ZMP (Zero Moment Point) require not only fast sensor feedback, but also fast and precise control of actuators. For this reason, only a small number of research groups have the ability to create full-sized humanoid robots that can walk and run. However, …
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Tactile Sensing System Integrated to Compliant Foot of Humanoid Robot for Contact Force Measurement
… method of Ground Reaction Force (GRF) and Zero Moment Point (ZMP) measurement for balancing and walking using contact force feedback in mid to full sized humanoids. The conventional systems for the GRF and ZMP measurement are made of heavy metallic parts that tend to be bulky and vulnerable …
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An Analytical Motion Filter for Humanoid Robots
… robot to fall down due to instability. Using the Zero Moment Point as the stability criteria, this work proposes an Analytical Motion Filter (AMF), which stabilizes a reference motion that can come from human motion capture data, gait synthesis using kinematics, or animation software, while …
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The Development of a Locomotion Interface for Virtual Reality Terrain Simulation
… 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 reference for humanoid robots. The …