Exploring transition trajectory from quadrupedal Stance using ZMP based bang-bang control and quadratic programming
- 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:
- Online resources and Dissertations, Academic
- 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
- Other Versions:
- http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqm&rft_dat=xri:pqdiss:1555259
- ARK:
- ark:/48907/f39w0ckq
- ISBN:
- 9781303872600
- Catalog System Number:
- 990044635550203776
- Copyright:
- Howard Hu, 2014
- Rights:
- In Copyright
- Copyright Holder:
- Howard Hu
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