{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/106157"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/106157","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Control and hardware design for a bipedal robot via planar modeling with empirical perception studies leveraging embodied movement analysis","abstract":"Humans can walk across a range of surfaces without falling and can also communicate internal state to other humans through variable gait styles. That is why, developing bipedal robots is of interest for applications in human-facing settings. For the purpose of designing an expressive bipedal robot, this dissertation focuses on taking inspiration from the experiential understanding about human walking from the Basic Six in Bartenieff Fundamentals. To generate a range of stylistic walking behaviors, simplified planar biped models are studied under model-based trajectory optimization with variable constraints. From these walking behaviors, a set of gaits is identified and labeled, using embodied movement analysis, with stylistic verbs related to human walking, e.g., ``lope'' and ``saunter''. These labels are then validated by conducting user studies in Amazon Mechanical Turk and demonstrate that the gaits generated using our method are visually distinguishable and correlate with the human activity. These gaits are also investigated for the affect they can induce on the humans in the presence of visual stimuli in the form of background images. To implement the variable gait styles in real world, a hardware mechanism has also been developed that can replicate the notion of pelvic shift from the Basic Six. Thus, this dissertation lays groundwork for designing bipedal walking robots that can convey social cues with their movements and integrate harmoniously around humans.","abstract_html":"Humans can walk across a range of surfaces without falling and can also communicate internal state to other humans through variable gait styles. That is why, developing bipedal robots is of interest for applications in human-facing settings. For the purpose of designing an expressive bipedal robot, this dissertation focuses on taking inspiration from the experiential understanding about human walking from the Basic Six in Bartenieff Fundamentals. To generate a range of stylistic walking behaviors, simplified planar biped models are studied under model-based trajectory optimization with variable constraints. From these walking behaviors, a set of gaits is identified and labeled, using embodied movement analysis, with stylistic verbs related to human walking, e.g., ``lope'' and ``saunter''. These labels are then validated by conducting user studies in Amazon Mechanical Turk and demonstrate that the gaits generated using our method are visually distinguishable and correlate with the human activity. These gaits are also investigated for the affect they can induce on the humans in the presence of visual stimuli in the form of background images. To implement the variable gait styles in real world, a hardware mechanism has also been developed that can replicate the notion of pelvic shift from the Basic Six. Thus, this dissertation lays groundwork for designing bipedal walking robots that can convey social cues with their movements and integrate harmoniously around humans.","abstract_has_math":false,"creators":["Huzaifa, Muhammad Umer"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"Ph.D.","degree_level":"Dissertation","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["LaViers, Amy","Hsiao-Wecksler, Elizabeth","Park, Hae-Won","Kirlik, Alex"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2020,"date_issued":"2020-03-02T21:57:58Z","date_published":"2020-03-02T21:57:58Z","updated_at":"2026-07-22T22:24:45Z","subjects":["Robotics, Control, Bipedal Walking, Expressive Robots, Walking Robots"],"languages":["en"],"rights":["Copyright 2019 Muhammad Umer Huzaifa"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/106157","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["LaViers, Amy","Hsiao-Wecksler, Elizabeth","Park, Hae-Won","Kirlik, Alex"]},{"key":"dc:creator","label":"Author","values":["Huzaifa, Muhammad Umer"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2020-03-02T21:57:58Z","2019-10-08","2019-12"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Dissertation"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Ph.D."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Robotics, Control, Bipedal Walking, Expressive Robots, Walking Robots"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2019 Muhammad Umer Huzaifa"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/106157"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Humans can walk across a range of surfaces without falling and can also communicate internal state to other humans through variable gait styles. That is why, developing bipedal robots is of interest for applications in human-facing settings. For the purpose of designing an expressive bipedal robot, this dissertation focuses on taking inspiration from the experiential understanding about human walking from the Basic Six in Bartenieff Fundamentals. To generate a range of stylistic walking behaviors, simplified planar biped models are studied under model-based trajectory optimization with variable constraints. From these walking behaviors, a set of gaits is identified and labeled, using embodied movement analysis, with stylistic verbs related to human walking, e.g., ``lope'' and ``saunter''. These labels are then validated by conducting user studies in Amazon Mechanical Turk and demonstrate that the gaits generated using our method are visually distinguishable and correlate with the human activity. These gaits are also investigated for the affect they can induce on the humans in the presence of visual stimuli in the form of background images. To implement the variable gait styles in real world, a hardware mechanism has also been developed that can replicate the notion of pelvic shift from the Basic Six. Thus, this dissertation lays groundwork for designing bipedal walking robots that can convey social cues with their movements and integrate harmoniously around humans.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2020-02-28 without embargo terms","The student, Muhammad Huzaifa, accepted the attached license on 2019-09-23 at 14:12.","The student, Muhammad Huzaifa, submitted this Dissertation for approval on 2019-09-23 at 14:21.","This Dissertation was approved for publication on 2019-10-08 at 13:53.","DSpace SAF Submission Ingestion Package generated from Vireo submission #14468 on 2020-02-28 at 17:11:41","Made available in DSpace on 2020-03-02T21:57:58Z (GMT). No. of bitstreams: 2 HUZAIFA-DISSERTATION-2019.pdf: 31091300 bytes, checksum: d799a783b19f9aa9e350734f8e6623ca (MD5) LICENSE.txt: 4209 bytes, checksum: 504ed81ba476b561b2a669fbf4146d91 (MD5) Previous issue date: 2019-10-08"]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Control and hardware design for a bipedal robot via planar modeling with empirical perception studies leveraging embodied movement analysis"]}]}],"canonical_facts":{"dc:contributor":["LaViers, Amy","Hsiao-Wecksler, Elizabeth","Park, Hae-Won","Kirlik, Alex"],"dc:creator":["Huzaifa, Muhammad Umer"],"dc:date":["2020-03-02T21:57:58Z","2019-10-08","2019-12"],"dc:description":["Humans can walk across a range of surfaces without falling and can also communicate internal state to other humans through variable gait styles. That is why, developing bipedal robots is of interest for applications in human-facing settings. For the purpose of designing an expressive bipedal robot, this dissertation focuses on taking inspiration from the experiential understanding about human walking from the Basic Six in Bartenieff Fundamentals. To generate a range of stylistic walking behaviors, simplified planar biped models are studied under model-based trajectory optimization with variable constraints. From these walking behaviors, a set of gaits is identified and labeled, using embodied movement analysis, with stylistic verbs related to human walking, e.g., ``lope'' and ``saunter''. These labels are then validated by conducting user studies in Amazon Mechanical Turk and demonstrate that the gaits generated using our method are visually distinguishable and correlate with the human activity. These gaits are also investigated for the affect they can induce on the humans in the presence of visual stimuli in the form of background images. To implement the variable gait styles in real world, a hardware mechanism has also been developed that can replicate the notion of pelvic shift from the Basic Six. Thus, this dissertation lays groundwork for designing bipedal walking robots that can convey social cues with their movements and integrate harmoniously around humans.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2020-02-28 without embargo terms","The student, Muhammad Huzaifa, accepted the attached license on 2019-09-23 at 14:12.","The student, Muhammad Huzaifa, submitted this Dissertation for approval on 2019-09-23 at 14:21.","This Dissertation was approved for publication on 2019-10-08 at 13:53.","DSpace SAF Submission Ingestion Package generated from Vireo submission #14468 on 2020-02-28 at 17:11:41","Made available in DSpace on 2020-03-02T21:57:58Z (GMT). No. of bitstreams: 2 HUZAIFA-DISSERTATION-2019.pdf: 31091300 bytes, checksum: d799a783b19f9aa9e350734f8e6623ca (MD5) LICENSE.txt: 4209 bytes, checksum: 504ed81ba476b561b2a669fbf4146d91 (MD5) Previous issue date: 2019-10-08"],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/2142/106157"],"dc:language":["en"],"dc:rights":["Copyright 2019 Muhammad Umer Huzaifa"],"dc:subject":["Robotics, Control, Bipedal Walking, Expressive Robots, Walking Robots"],"dc:title":["Control and hardware design for a bipedal robot via planar modeling with empirical perception studies leveraging embodied movement analysis"],"dc:type":["text"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["Dissertation"],"thesis:degree_name":["Ph.D."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:24:45Z"}