{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/97512"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/97512","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Biped walking control design based on zero moment point dynamics","abstract":"Biped walking control for humanoid robots has been a challenging yet promising research topic in the past decades. The complicated nonlinear dynamics and numerous degrees of freedom are the main obstacles for biped walking control. This thesis studies the complete 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 tracking are investigated and evaluated, with an emphasis on the Whole Body Cooperation method, which is then implemented along with the replanning algorithm in simulations.","abstract_html":"Biped walking control for humanoid robots has been a challenging yet promising research topic in the past decades. The complicated nonlinear dynamics and numerous degrees of freedom are the main obstacles for biped walking control. This thesis studies the complete 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 tracking are investigated and evaluated, with an emphasis on the Whole Body Cooperation method, which is then implemented along with the replanning algorithm in simulations.","abstract_has_math":false,"creators":["Fan, Yinai"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Hutchinson, Seth"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-08-10T19:16:22Z","date_published":"2017-08-10T19:16:22Z","updated_at":"2026-07-22T22:24:34Z","subjects":["Biped walking","Zero moment point"],"languages":["en"],"rights":["Copyright 2017 Yinai Fan"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/97512","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Hutchinson, Seth"]},{"key":"dc:creator","label":"Author","values":["Fan, Yinai"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2017-08-10T19:16:22Z","2017-04-28","2017-05"]},{"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":["Biped walking","Zero moment point"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2017 Yinai Fan"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/97512"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Biped walking control for humanoid robots has been a challenging yet promising research topic in the past decades. The complicated nonlinear dynamics and numerous degrees of freedom are the main obstacles for biped walking control. This thesis studies the complete 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 tracking are investigated and evaluated, with an emphasis on the Whole Body Cooperation method, which is then implemented along with the replanning algorithm in simulations.","Submission original under an indefinite embargo labeled 'Open Access'. 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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 tracking are investigated and evaluated, with an emphasis on the Whole Body Cooperation method, which is then implemented along with the replanning algorithm in simulations.","Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2017-08-10 without embargo terms","The student, Yinai Fan, accepted the attached license on 2017-04-27 at 16:05.","The student, Yinai Fan, submitted this Thesis for approval on 2017-04-27 at 16:17.","This Thesis was approved for publication on 2017-04-28 at 10:43.","DSpace SAF Submission Ingestion Package generated from Vireo submission #11125 on 2017-08-10 at 13:47:01","Made available in DSpace on 2017-08-10T19:16:22Z (GMT). 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