پديد آورنده :
دهقاني، رضا
عنوان :
طراحي گام پايدار و كنترل حركت ربات دو پاي فاقد مچ پا
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك
صفحه شمار :
ده،166ص.: مصور،جدول،نمودار
يادداشت :
ص.ع.به فارسي و انگليسي
استاد مشاور :
مهدي كشميري
توصيفگر ها :
كم عملگري , تحليل پايداري , نگاشت پوانكاره , كنترل مقاوم
تاريخ نمايه سازي :
18/11/89
استاد داور :
مصطفي غيور، فريد شيخ الاسلام، علي اكبر موسويان
كد ايرانداك :
ID348 دكتري
چكيده فارسي :
به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي
چكيده انگليسي :
Stable gait planning and motion control of a biped robot without feet Reza Dehghani rezadehghani@me iut ac ir Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Supervisor Dr Abbas Fattah fattah@cc iut ac ir Advisor Dr Mehdi Keshmiri mehdik@cc iut ac ir1 Abstract In biped robots the number of actuators is less than the number of degrees of freedom Hence these robots are inherently underactuation and unstable systems In this research work stability analysis of walking gaits and robustness analysis are developed for a five link and four actuator biped robot In order to have a cyclic motion with faster convergence we propose a stable gait planning for a biped without feet Stability conditions are derived by studying unactuated dynamics and using the Poincar map associated with periodic walking gaits A stable gait is designed by an optimization process satisfying physical constraints and stability conditions Also considering underactuation problem a time invariant control law is designed to track the stable motion of biped Validation of proposed approach is achieved by numerical simulations Moreover the effect of torso on the energy efficiency of biped and the stability of motion on the uneven surface are investigated Keywords Biped robot Underactuation Poincar map Robust motion Department of Mechanical Engineering Isfahan University of Technology
استاد مشاور :
مهدي كشميري
استاد داور :
مصطفي غيور، فريد شيخ الاسلام، علي اكبر موسويان
