Design and implementation of balance control in a humanoid robot
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
| Published: |
Massachusetts Institute of Technology
2008
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/40427 |
| _version_ | 1826212863315804160 |
|---|---|
| author | Englot, Brendan J |
| author2 | Steve G. Massaquoi. |
| author_facet | Steve G. Massaquoi. Englot, Brendan J |
| author_sort | Englot, Brendan J |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. |
| first_indexed | 2024-09-23T15:39:02Z |
| format | Thesis |
| id | mit-1721.1/40427 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T15:39:02Z |
| publishDate | 2008 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/404272019-04-12T09:25:22Z Design and implementation of balance control in a humanoid robot Englot, Brendan J Steve G. Massaquoi. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. Includes bibliographical references (leaf 28). A proportional derivative control strategy was developed for the purpose of achieving balance in a humanoid robot. An artificial muscle model was adapted which modified physiological parameters for the purpose of controlling a lightweight robot skeleton. Gains were modified as a function of joint angles to permit low gain near the equilibrium point, and consequently to promote a human-like swaying behavior that is energy-efficient. The control strategy was testing by placing a non-zero initial condition on the ankle joint angle and observing the robot, both physically and in simulation, attempt to achieve a stable swaying pattern. This was achieved successfully in a simulation of the robot's mass and inertial parameters, but further efforts must be made to obtain the same behavior in the robot. The ability of a robot to successfully balance using a human-like sway pattern adds another successful biomimetic feature to humanoid robot control and in addition should improve the efficiency of such systems. by Brendan J. Englot. S.B. 2008-02-27T22:24:26Z 2008-02-27T22:24:26Z 2007 2007 Thesis http://hdl.handle.net/1721.1/40427 191699844 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 28 leaves application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Englot, Brendan J Design and implementation of balance control in a humanoid robot |
| title | Design and implementation of balance control in a humanoid robot |
| title_full | Design and implementation of balance control in a humanoid robot |
| title_fullStr | Design and implementation of balance control in a humanoid robot |
| title_full_unstemmed | Design and implementation of balance control in a humanoid robot |
| title_short | Design and implementation of balance control in a humanoid robot |
| title_sort | design and implementation of balance control in a humanoid robot |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/40427 |
| work_keys_str_mv | AT englotbrendanj designandimplementationofbalancecontrolinahumanoidrobot |