Movement theory inspired robot motion strategies and design of a bipedal walker

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2016

Author dc:creator

• Huzaifa, Muhammad Umer

Contributors dc:contributor

• LaViers, Amy

• Bipedal Robot
• Robotics
• Supervisory Control
• Linear Temporal Logic
• Laban/Bartenieff Movement Studies
• Bartenieff's Basic Six
• Core-located Actuation

Statement dc:rights

• Copyright 2016 Muhammad Huzaifa

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/92869

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/92869