15018

13516

كارشناسي ارشد

طراحي كاربردي- ديناميك ارتعاشات كنترل

اصفهان : دانشگاه صنعتي اصفهان

1398

نه، 110ص. :مصور، جدول، نمودار

مهدي كشميري

حسين كريم پور

سعيد ضيايي راد، حميد صادقيان

1398/06/13

كتابنامه

مهندسي مكانيك

مهندسي مكانيك

1398/06/16

2556091

Effectiveness of changing length step to assure dynamic stability of locomotion for a biped in response to impact Erfan Ghorbani erfan ghorbani@me iut ac ir July 1 2019 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree Master of Science Language FarsiSupervisor Mehdi Keshmiri Prof mehdik@cc iut ac ir AbstractBipedal robots can adapt to the urban environment of modern societies due to their particular locomotion modesimilar to the human gait and therefore are good candidates for collaborating with humans by walking along side them However motion planning while maintaining stability for these robots is a challenging issue thatdespite the development of new technologies and the advancement of knowledge has not reached a satisfactorysolution yet In most of the methods proposed by researchers on the walking stability of bipedal robots thegeneral trend relies on ensuring an instantaneous stability by constraining the motion Although those methodspresent good performance in sustaining stability they lack to spare the robot a natural gait often resulting inlow efficiency strategies with high energy consumption Consequently some other walking techniques havebeen developed based on following a certain motion limit cycle considering the overall stability of motionrather than satisfying it continuously In this research a method is proposed to preserve the stability of thoselimit cycles against disturbances For this purpose the dynamical model of the biped robot is extracted in thespace of the mass center variables and according to the desired step length and speed a motion limit cycle isdesigned Subsequently a motion stabilizer is proposed based on the idea of step length shift which is a naturalhuman strategy for recovering the balance in case of sudden situation of disequilibrium In order to alleviate theunwanted effects of proposed stabilizing strategy a friction analysis helps to redesign the algorithm to a moreadvanced level of reliability Ultimately the motion stabilizer demonstrates its ability to withstand impacts while taking into account the limitation of surface friction As an extension by defining a constrained opti mization problem the proposed stabilizer is implemented in the joint space Finally a simulation is performedon a biped robot model with realistic parameters dealing with two different scenarios including impact duringmotion and in standstill position The results show that this technique has a good performance in maintainingthe stability of motion against impact and exhibits responses similar to human reactions KeywordsBiped Robot Limit Cycle Walking Push Recovery Step Length Changing Strategy Stability and non slippage

مهدي كشميري

حسين كريم پور

سعيد ضيايي راد، حميد صادقيان