umu.sePublikationer
Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Design of energy efficient walking gaits for a three-link planar biped walker with two unactuated degrees of freedom
Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för tillämpad fysik och elektronik.
Umeå universitet, Teknisk-naturvetenskapliga fakulteten, Institutionen för tillämpad fysik och elektronik.
2012 (Engelska)Ingår i: Robotics and Automation (ICRA), 2012 IEEE International Conference on, New York: IEEE Computer Society, 2012, s. 148-153Konferensbidrag, Publicerat paper (Övrigt vetenskapligt)
Abstract [en]

We consider the example of a three-link planar biped walker with two passive links. The main objective is to design symmetric periodic gaits in flat ground, that can be exponentially stabilized by feedback control. To this end, we apply recent advances in nonlinear control, to propose a systematic procedure to the problems of gait synthesis and control design. The core of the method lays on a nontrivial coordinate transformation, in order to approach the problem in a state-dependent form. For gait synthesis, such procedure allows a reduction of the search space, with the feasibility of considering energetic performance for optimization. For control design, this allows to apply concepts of transverse linearization, to design a nonlinear feedback control law, which performance is studied by numerical simulations.

Ort, förlag, år, upplaga, sidor
New York: IEEE Computer Society, 2012. s. 148-153
Serie
IEEE International Conference on Robotics and Automation, ISSN 2152-4092
Nyckelord [en]
Walking robots, underactuated mechanical systems, limit cycles, virtual holonomic constraints, transverse linearization
Nationell ämneskategori
Datavetenskap (datalogi) Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:umu:diva-61582DOI: 10.1109/ICRA.2012.6224874ISI: 000309406700023ISBN: 978-1-4673-1405-3 (tryckt)OAI: oai:DiVA.org:umu-61582DiVA, id: diva2:572239
Konferens
2012 IEEE International Conference on Robotics and Automation (ICRA), Location: St Paul, MN, Date: May 14-18, 2012
Tillgänglig från: 2012-11-27 Skapad: 2012-11-20 Senast uppdaterad: 2018-06-08Bibliografiskt granskad
Ingår i avhandling
1. Virtual Holonomic Constraints: from academic to industrial applications
Öppna denna publikation i ny flik eller fönster >>Virtual Holonomic Constraints: from academic to industrial applications
2015 (Engelska)Doktorsavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

Whether it is a car, a mobile phone, or a computer, we are noticing how automation and production with robots plays an important role in the industry of our modern world. We find it in factories, manufacturing products, automotive cruise control, construction equipment, autopilot on airplanes, and countless other industrial applications.

        Automation technology can vary greatly depending on the field of application. On one end, we have systems that are operated by the user and rely fully on human ability. Examples of these are heavy-mobile equipment, remote controlled systems, helicopters, and many more. On the other end, we have autonomous systems that are able to make algorithmic decisions independently of the user.

        Society has always envisioned robots with the full capabilities of humans. However, we should envision applications that will help us increase productivity and improve our quality of life through human-robot collaboration. The questions we should be asking are: “What tasks should be automated?'', and “How can we combine the best of both humans and automation?”. This thinking leads to the idea of developing systems with some level of autonomy, where the intelligence is shared between the user and the system. Reasonably, the computerized intelligence and decision making would be designed according to mathematical algorithms and control rules.

        This thesis considers these topics and shows the importance of fundamental mathematics and control design to develop automated systems that can execute desired tasks. All of this work is based on some of the most modern concepts in the subjects of robotics and control, which are synthesized by a method known as the Virtual Holonomic Constraints Approach. This method has been useful to tackle some of the most complex problems of nonlinear control, and has enabled the possibility to approach challenging academic and industrial problems. This thesis shows concepts of system modeling, control design, motion analysis, motion planning, and many other interesting subjects, which can be treated effectively through analytical methods. The use of mathematical approaches allows performing computer simulations that also lead to direct practical implementations.

Ort, förlag, år, upplaga, sidor
Umeå: Umeå Universitet, 2015. s. 57
Serie
Robotics and control lab, ISSN 1654-5419 ; 7
Nyckelord
Virtual Holonomic Constraints, modeling, control, motion planning, under-actuated systems, forestry cranes, hydraulic manipulators
Nationell ämneskategori
Reglerteknik Robotteknik och automation
Identifikatorer
urn:nbn:se:umu:diva-87707 (URN)978-91-7601-196-6 (ISBN)
Disputation
2015-02-02, MA121, MIT-Huset, Umeå Universitet, Umeå, 13:00 (Engelska)
Opponent
Handledare
Tillgänglig från: 2015-01-12 Skapad: 2014-04-07 Senast uppdaterad: 2018-06-07Bibliografiskt granskad

Open Access i DiVA

ICRA_2012(294 kB)300 nedladdningar
Filinformation
Filnamn FULLTEXT01.pdfFilstorlek 294 kBChecksumma SHA-512
cbd89ec2dd0b10c1adaee4c81f3502ab33efd36b87584bfe8df8988f4347eb13776f2f17c990ce54dc6cf1a9b382ffe092c1d3ef3ad9a2dfbe46de1d9c5bd70c
Typ fulltextMimetyp application/pdf

Övriga länkar

Förlagets fulltext

Personposter BETA

Ortiz Morales, DanielLa Hera, Pedro X

Sök vidare i DiVA

Av författaren/redaktören
Ortiz Morales, DanielLa Hera, Pedro X
Av organisationen
Institutionen för tillämpad fysik och elektronik
Datavetenskap (datalogi)Robotteknik och automation

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 300 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

doi
isbn
urn-nbn

Altmetricpoäng

doi
isbn
urn-nbn
Totalt: 194 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf