Alexandria Digital Research Library

Exploring transition trajectory from quadrupedal Stance using ZMP based bang-bang control and quadratic programming

Author:
Hu, Howard Yu-Hao
Degree Grantor:
University of California, Santa Barbara. Electrical & Computer Engineering
Degree Supervisor:
Katie Byl
Place of Publication:
[Santa Barbara, Calif.]
Publisher:
University of California, Santa Barbara
Creation Date:
2014
Issued Date:
2014
Topics:
Engineering, Robotics and Engineering, Electronics and Electrical
Keywords:
Quadratic Programming
ZMP
Genres:
Dissertations, Academic and Online resources
Dissertation:
M.S.--University of California, Santa Barbara, 2014
Description:

Both quadrupedal and bipedal robots have their own advantages. In order for some quadrupedal robots, such as Jet Propulsion Laboratory's RoboSimian, to act as bipedal robots, a transition motion is often needed. In this thesis, we present a ZMP based bang-bang control method to solve for a minimum time transition trajectory for a simplified dynamic model. Also, we explore two different quadratic programming problem formulations to plan for a fast pitching up robot trajectory from being horizontal in hope that the robot can be balanced when it's near an upright position. We also investigate different ways to improve the speed a body trajectory given a limited physical capability of a robot.

Physical Description:
1 online resource (49 pages)
Format:
Text
Collection(s):
UCSB electronic theses and dissertations
ARK:
ark:/48907/f39w0ckq
ISBN:
9781303872600
Catalog System Number:
990044635550203776
Rights:
Inc.icon only.dark In Copyright
Copyright Holder:
Howard Hu
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