{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/92869"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/92869","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Movement theory inspired robot motion strategies and design of a bipedal walker","abstract":"This work explores top down embodied movement analysis with reference to movement literature like Laban/Bartenieff Movement Studies (LBMS) and movement sequencing as in choreography. First, high-level movement behaviors are investigated for robot systems by modeling them as sequentially evolving state machines, motivated by choreographed human movements, where states define poses at particular instants. Here, tools from formal theory help in producing high-level movement behaviors by conditioning transitions between these states. Secondly, high-level movements are investigated by designing a bipedal robot closely mapping key movements from human walking as identified in Bartenieff's Basic Six. This design is further simplified for mathematical modeling in a plane and a controller is designed for generating a stable walking gait. This line of work is important because it gives an embodied aspect of robot movement planning which can inspire more intuitive robot control methods and robot designs.","abstract_html":"This work explores top down embodied movement analysis with reference to movement literature like Laban/Bartenieff Movement Studies (LBMS) and movement sequencing as in choreography. First, high-level movement behaviors are investigated for robot systems by modeling them as sequentially evolving state machines, motivated by choreographed human movements, where states define poses at particular instants. Here, tools from formal theory help in producing high-level movement behaviors by conditioning transitions between these states. Secondly, high-level movements are investigated by designing a bipedal robot closely mapping key movements from human walking as identified in Bartenieff's Basic Six. This design is further simplified for mathematical modeling in a plane and a controller is designed for generating a stable walking gait. This line of work is important because it gives an embodied aspect of robot movement planning which can inspire more intuitive robot control methods and robot designs.","abstract_has_math":false,"creators":["Huzaifa, Muhammad Umer"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["LaViers, Amy"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2016,"date_issued":"2016-11-10T17:55:19Z","date_published":"2016-11-10T17:55:19Z","updated_at":"2026-07-22T22:26:35Z","subjects":["Bipedal Robot","Robotics","Supervisory Control","Linear Temporal Logic","Laban/Bartenieff Movement Studies","Bartenieff's Basic Six","Core-located Actuation"],"languages":["en"],"rights":["Copyright 2016 Muhammad Huzaifa"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/92869","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["LaViers, Amy"]},{"key":"dc:creator","label":"Author","values":["Huzaifa, Muhammad Umer"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2016-11-10T17:55:19Z","2016-07-20","2016-08"]},{"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":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"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":["Bipedal Robot","Robotics","Supervisory Control","Linear Temporal Logic","Laban/Bartenieff Movement Studies","Bartenieff's Basic Six","Core-located Actuation"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2016 Muhammad Huzaifa"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/92869"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["This work explores top down embodied movement analysis with reference to movement literature like Laban/Bartenieff Movement Studies (LBMS) and movement sequencing as in choreography. 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The submission was exported from vireo on 2016-11-09 without embargo terms","The student, Muhammad Huzaifa, accepted the attached license on 2016-07-20 at 01:59.","The student, Muhammad Huzaifa, submitted this Thesis for approval on 2016-07-20 at 02:22.","This Thesis was approved for publication on 2016-07-20 at 10:05.","DSpace SAF Submission Ingestion Package generated from Vireo submission #9999 on 2016-11-09 at 10:25:28","Made available in DSpace on 2016-11-10T17:55:19Z (GMT). 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First, high-level movement behaviors are investigated for robot systems by modeling them as sequentially evolving state machines, motivated by choreographed human movements, where states define poses at particular instants. Here, tools from formal theory help in producing high-level movement behaviors by conditioning transitions between these states. Secondly, high-level movements are investigated by designing a bipedal robot closely mapping key movements from human walking as identified in Bartenieff's Basic Six. This design is further simplified for mathematical modeling in a plane and a controller is designed for generating a stable walking gait. This line of work is important because it gives an embodied aspect of robot movement planning which can inspire more intuitive robot control methods and robot designs.","Submission original under an indefinite embargo labeled 'Open Access'. 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