東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Robust stabilization of hybrid perio...

Song, Guobiao.

Linked to FindBook

Google Book

Amazon

博客來

Robust stabilization of hybrid periodic orbits with application to dynamic bipedal walking.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Robust stabilization of hybrid periodic orbits with application to dynamic bipedal walking./
Author:	Song, Guobiao.
Description:	186 p.
Notes:	Source: Dissertation Abstracts International, Volume: 68-01, Section: B, page: 0517.
Contained By:	Dissertation Abstracts International68-01B.
Subject:	Engineering, Electronics and Electrical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3248875

Robust stabilization of hybrid periodic orbits with application to dynamic bipedal walking.
Song, Guobiao.

Robust stabilization of hybrid periodic orbits with application to dynamic bipedal walking. - 186 p.

Source: Dissertation Abstracts International, Volume: 68-01, Section: B, page: 0517.

Thesis (Ph.D.)--University of Illinois at Chicago, 2006.

Robotic walking has been a topic of interest for a long time and numerous theoretical as well as experimental studies have been conducted so far. However, the area of under-actuated bipedal walking remains open and limited progress has been achieved. This thesis focuses on building a framework for modeling, gait optimization and robust stabilization of periodic bipedal locomotion, especially bipedal walking with more than 1 degree of under-actuation. We make this framework general so that various biped models can be accommodated.Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Robust stabilization of hybrid periodic orbits with application to dynamic bipedal walking.
LDR:02391nmm 2200277 4500 001 1833295
005 20071001080754.5
008 130610s2006 eng d
035 $a (UMI)AAI3248875
035 $a AAI3248875
040 $a UMI $c UMI
100 1 $a Song, Guobiao. $3 1922002
245 1 0 $a Robust stabilization of hybrid periodic orbits with application to dynamic bipedal walking.
300 $a 186 p.
500 $a Source: Dissertation Abstracts International, Volume: 68-01, Section: B, page: 0517.
500 $a Adviser: Milos Zefran.
502 $a Thesis (Ph.D.)--University of Illinois at Chicago, 2006.
520 $a Robotic walking has been a topic of interest for a long time and numerous theoretical as well as experimental studies have been conducted so far. However, the area of under-actuated bipedal walking remains open and limited progress has been achieved. This thesis focuses on building a framework for modeling, gait optimization and robust stabilization of periodic bipedal locomotion, especially bipedal walking with more than 1 degree of under-actuation. We make this framework general so that various biped models can be accommodated.
520 $a Roughly, two categories of methods in the stabilization of periodic bipedal walking can be identified in the literature: trajectory tracking and Poincare sections. The first category is often too rigid since tracking of phase is typically not desired in practical application, while the methods in the second category are subject to the complexity associated with the computation of Poincare return map, We propose a computational approach that overcomes these drawbacks. In our approach, energy efficient gait is found through optimization; the classic dynamics decomposition is extended to hybrid systems with impulse effects; and finally, an efficient linear matrix inequality (LMI) based synthesis approach is developed to provide robust controllers for the system. We demonstrate that the approach works for both planar and spatial under-actuated biped robots. No other case of successful control of under-actuated spatial bipeds has been reported to date.
590 $a School code: 0799.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0544
690 $a 0771
710 2 0 $a University of Illinois at Chicago. $3 1020478
773 0 $t Dissertation Abstracts International $g 68-01B.
790 1 0 $a Zefran, Milos, $e advisor
790 $a 0799
791 $a Ph.D.
792 $a 2006
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3248875