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dc.contributor.advisorAmes, Aaron D
dc.creatorCousineau, Eric Andrew
dc.date.accessioned2015-04-28T15:34:56Z
dc.date.available2016-12-01T06:36:15Z
dc.date.created2014-12
dc.date.issued2014-12-16
dc.date.submittedDecember 2014
dc.identifier.urihttp://hdl.handle.net/1969.1/154096
dc.description.abstractThis thesis presents an application of hybrid zero dynamics to realize underactuated bipedal walking on DURUS, a testbed designed and built by SRI International. The main contribution of this work is the ideal model resolved motion method (IMRMM), which is a simple method to convert ideal torque controllers to PD controllers to implement on hardware. Walking was first achieved using the proven method of the hybrid zero dynamics (HZD) reconstruction, followed by the Input-Output Feedback Linearization (IO) and Rapidly Exponentially Stabilizing Control Lyapunov Function Quadratic Programs (CLF-QPs) torque controllers implemented via IMRMM. The simulation and experimental results are presented and compared, and the best resulting specific cost of electrical transport on hardware was computed as 0.63 for the CLF-QP IM-RMM controller, and the record for walking was achieved on a separate occasion with the same CLF-QP IM-RMM controller, which yielded walking for 2 hours and 53 minutes, covering 7 km.en
dc.format.mimetypeapplication/pdf
dc.language.isoen
dc.subjectUnderactuateden
dc.subjectBipedalen
dc.subjectWalkingen
dc.subjectLocomotionen
dc.subjectRoboticsen
dc.subjectHumanoiden
dc.subjectIdeal Modelen
dc.subjectResolved Motion Methoden
dc.subjectHybrid Zero Dynamicsen
dc.subjectHybrid Systemsen
dc.subjectControlen
dc.subjectNonlinear Controlen
dc.subjectAutonomous Walkingen
dc.subjectHuman-Inspired Frameworken
dc.titleRealizing Torque Controllers for Underactuated Bipedal Walking Using the Ideal Model Resolved Motion Methoden
dc.typeThesisen
thesis.degree.departmentMechanical Engineeringen
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.grantorTexas A & M Universityen
thesis.degree.nameMaster of Scienceen
thesis.degree.levelMastersen
dc.contributor.committeeMemberAmato, Nancy M
dc.contributor.committeeMemberLangari, Reza
dc.type.materialtexten
dc.date.updated2015-04-28T15:34:56Z
local.embargo.terms2016-12-01
local.etdauthor.orcid0000-0002-5056-8046


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