كنترل پايداري رباتهاي راه روند دوپا بر اساس اندازه حركت كلي

چكيده انگليسي :

Stability Control of Walking Biped Robots based on Total Momentum Mostafa Ghobadi Shahreza m ghobadishahreza@me iut ac ir 04 18 2012 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree M Sc Language FarsiDr Mehdi Keshmiri mehdik@cc iut ac irAbstractWith the development of robotics science lots of research has been conducted in the area of biped robotsand many industries have been attracted to the application of these robots Because of the non continuousnature of legged robots and bipeds in particular not facing problems that wheeled or snake like robots do inmoving on stairs and ditches their industrial and practical applications has been considered seriously Thatis why a great number of humanoid robots have been developed all over the world and in some countriessuch as Japan development of Humanoid Robots is considered as a national project to the extent that it isconsidered as an index of the science and technology development in the country As the humanoid robotshave the same structure as humans many efforts are put to reach their level of ability to handle many taskswhich have been normally assigned to humankind Among the subjects which have been studied on bipedmotion naming motion stability analysis motion pattern generation optimization and control the stabilityand control of these systems can be considered as one of the most important issues The concept of stabilityof the biped motions its criteria and how such stability can be guaranteed is of the greatest importance forresearchers and at the same time is the most complicated dilemma not completely resolved yet Most of theresearches on stability and control of these systems have been based on the Postural Stability which regardsthe control of walkers stability as the motion tracking of their joints and support limbs on some desiredtrajectories having postural stability However recently some scholars developed the concept of thestability of walkers correctly and equate it with not going to the states which leads to fall down or tip over The current research is based on this new intuition of stability and unlike the traditional analyses whichfollows stability and control of the walker in joint space as internal or detailed quantities a walker isconsidered as a total system so that the problem is followed in whole body momentum space Such anapproach gives an exhaustive solution which enables its implementation on any biped walkers consideringthe existence of a map between these two spaces Firstly Principle Equation of Motion for walkers isderived that later results in introducing two piecewise continuous dynamical systems namely SimplifiedWalking Model SWM and Complete Walking Model CWM which both describe the behavior of walkerwith emphasis on the motion in horizontal plane Furthermore by making some realistic assumptions basedon human natural walking a simplified equation of motion named Step to Step Equation of Walking isformulated To calculate the solution of steady walking motions the repetition condition is exerted on thisequation that yields a significant finding named Simple and Compound Motion Cycles as general solutionsof steady walking Among all possible motion cycles Simple Forward Motion Cycle is representing thenormal walking pattern These cycles have marginal stability that in practice cause the motion to divergeexponentially even under slight disturbance By defining the stabilization of walking as the guidance of themotion initiated from arbitrary initial states to a desired motion cycle and controlling the motion about it two major strategies are presented for stability control of the walkers 1 Continuous altering of Center ofPressure CoP within support polygon and 2 Continual planning of the step length and duration Usingthese two strategies and based on Simplified Walking Model SWM four methods of stability controlnamed generally as Motion Cycle Stabilizers are proposed and their theoretical aspects ar

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كنترل پايداري رباتهاي راه روند دوپا بر اساس اندازه حركت كلي

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