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dc.contributor.advisorAmes, Aaron D.en_US
dc.creatorPasupuleti, Murali Krishnaen_US
dc.date.accessioned2012-10-19T15:29:55Zen_US
dc.date.accessioned2012-10-22T18:02:56Z
dc.date.available2014-11-03T19:49:15Z
dc.date.created2012-08en_US
dc.date.issued2012-10-19en_US
dc.date.submittedAugust 2012en_US
dc.identifier.urihttp://hdl.handle.net/1969.1/ETD-TAMU-2012-08-11447en_US
dc.description.abstractThis thesis presents an approach towards experimental realization of underactuated bipedal robotic walking using human data. Human-inspired control theory serves as the foundation for this work. As the name, "human-inspired control," suggests, by using human walking data, certain outputs (termed human outputs) are found which can be represented by simple functions of time (termed canonical walking functions). Then, an optimization problem is used to determine the best fit of the canonical walking function to the human data, which guarantees a physically realizable walking for a specific bipedal robot. The main focus of this work is to construct a control scheme which takes the optimization results as input and delivers human-like walking on the real-world robotic platform - AMBER. To implement the human-inspired control techniques experimentally on a physical bipedal robot AMBER, a simple voltage based control law is presented which utilizes only the human outputs and canonical walking function with parameters obtained from the optimization. Since this controller does not require model inversion, it can be implemented efficiently in software. Moreover, applying this methodology to AMBER, experimentally results in robust and efficient "human-like" robotic walking.en_US
dc.format.mimetypeapplication/pdfen_US
dc.language.isoen_USen_US
dc.subjectBipedal Walkingen_US
dc.subjectHuman-inspired Controlen_US
dc.subjectHybrid Control Systemsen_US
dc.titleDesign and Implementation of Voltage Based Human Inspired Feedback Control of a Planar Bipedal Robot AMBERen_US
dc.typeThesisen
thesis.degree.departmentElectrical and Computer Engineeringen_US
thesis.degree.disciplineElectrical Engineeringen_US
thesis.degree.grantorTexas A&M Universityen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelMastersen_US
dc.contributor.committeeMemberDatta, Aniruddhaen_US
dc.contributor.committeeMemberValasek, Johnen_US
dc.contributor.committeeMemberEnjeti, Prasaden_US
dc.type.genrethesisen_US
dc.type.materialtexten_US
local.embargo.terms2014-10-22en_US


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