{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/97734"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/97734","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Biped walking trajectory design and stabilization","abstract":"Biped robot locomotion has been studied intensively for many decades, and one of the most challenging topics of study is the dynamic motion 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 generation: boundedness constraint and linear-quadratic-regulator method. Both of these methods compute the center of mass (CoM) trajectory for the biped robot. A stabilizer is also designed, and the CoM trajectories are tested using Reem-c robot under the Gazebo simulation environment. Finally, a comprehensive comparison between the two methods will be given.","abstract_html":"Biped robot locomotion has been studied intensively for many decades, and one of the most challenging topics of study is the dynamic motion 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 generation: boundedness constraint and linear-quadratic-regulator method. Both of these methods compute the center of mass (CoM) trajectory for the biped robot. A stabilizer is also designed, and the CoM trajectories are tested using Reem-c robot under the Gazebo simulation environment. Finally, a comprehensive comparison between the two methods will be given.","abstract_has_math":false,"creators":["Xu, Jifei"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Electrical & Computer Engr","degree_department":null,"school":null,"contributors":["Hutchinson, Seth"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-08-10T20:33:06Z","date_published":"2017-08-10T20:33:06Z","updated_at":"2026-07-22T22:24:34Z","subjects":["Biped","Trajectory generation","Zero-moment point","Linear inverted pendulum model"],"languages":["en"],"rights":["Copyright 2017 Jifei Xu"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/97734","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":["Xu, Jifei"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2017-08-10T20:33:06Z","2019-08-11T09:15:39Z","2017-04-24","2017-05"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Electrical & Computer Engr"]},{"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","Trajectory generation","Zero-moment point","Linear inverted pendulum model"]}]},{"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 Jifei Xu"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/97734"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Biped robot locomotion has been studied intensively for many decades, and one of the most challenging topics of study is the dynamic motion 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 generation: boundedness constraint and linear-quadratic-regulator method. Both of these methods compute the center of mass (CoM) trajectory for the biped robot. A stabilizer is also designed, and the CoM trajectories are tested using Reem-c robot under the Gazebo simulation environment. Finally, a comprehensive comparison between the two methods will be given.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2019-05-01","The student, Jifei Xu, accepted the attached license on 2017-04-18 at 17:34.","The student, Jifei Xu, submitted this Thesis for approval on 2017-04-18 at 17:35.","This Thesis was approved for publication on 2017-04-24 at 17:21.","DSpace SAF Submission Ingestion Package generated from Vireo submission #10870 on 2017-08-10 at 15:06:07","Made available in DSpace on 2017-08-10T20:33:06Z (GMT). No. of bitstreams: 2 XU-THESIS-2017.pdf: 14031496 bytes, checksum: d6f943cbe87775aefd728dd31bed098c (MD5) LICENSE.txt: 4205 bytes, checksum: 49e62db8108ebc30fe15d37a7118612b (MD5) Previous issue date: 2017-04-24","Embargo set by: Colleen Fallaw for item 102787 Lift date: 2019-08-10T21:27:21Z Reason: Author requested U of Illinois access only (OA after 2yrs) in Vireo ETD system","U of I Only Restriction Lifted for Item 102787 on 2019-08-11T09:15:39Z."]},{"key":"dc:format","label":"Dc Format","values":["application/pdf"]},{"key":"dc:title","label":"Title","values":["Biped walking trajectory design and stabilization"]}]}],"canonical_facts":{"dc:contributor":["Hutchinson, Seth"],"dc:creator":["Xu, Jifei"],"dc:date":["2017-08-10T20:33:06Z","2019-08-11T09:15:39Z","2017-04-24","2017-05"],"dc:description":["Biped robot locomotion has been studied intensively for many decades, and one of the most challenging topics of study is the dynamic motion 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 generation: boundedness constraint and linear-quadratic-regulator method. Both of these methods compute the center of mass (CoM) trajectory for the biped robot. A stabilizer is also designed, and the CoM trajectories are tested using Reem-c robot under the Gazebo simulation environment. Finally, a comprehensive comparison between the two methods will be given.","Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2019-05-01","The student, Jifei Xu, accepted the attached license on 2017-04-18 at 17:34.","The student, Jifei Xu, submitted this Thesis for approval on 2017-04-18 at 17:35.","This Thesis was approved for publication on 2017-04-24 at 17:21.","DSpace SAF Submission Ingestion Package generated from Vireo submission #10870 on 2017-08-10 at 15:06:07","Made available in DSpace on 2017-08-10T20:33:06Z (GMT). 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