Steering natural dynamics to yield energy efficient, stable, and agile legged locomotion
- Degree Grantor:
- University of California, Santa Barbara. Mechanical Engineering
- Degree Supervisor:
- Katie Byl
- Place of Publication:
- [Santa Barbara, Calif.]
- Publisher:
- University of California, Santa Barbara
- Creation Date:
- 2016
- Issued Date:
- 2016
- Topics:
- Robotics, Mechanical engineering, and Biomechanics
- Keywords:
- Exoskeletons,
Walking,
Agility,
Metabolic benefit,
Running, and
Legged locomotion - Genres:
- Online resources and Dissertations, Academic
- Dissertation:
- Ph.D.--University of California, Santa Barbara, 2016
- Description:
We investigate how natural dynamics can yield stable, agile, and energy efficient robotic systems. Firstly, we cover a design with a single passive rolling element to stabilize frontal plane dynamics for a 3D biped walking across a range of forward velocities and/or step lengths. We examine aspects of the non-linear dynamics that contribute to the energy efficiency and stability of the system through simulations. Secondly, we examine switching controllers that allow for agile foothold selection in 5-link walkers. We leverage dynamic programming and discretization of the reachable space to walk across intermittent footholds. We utilize our meshing techniques to quantify stability and agility of these switching controllers. Finally, we provide experimental data on the effect of extra mass and power on humans at a variety of locations and forward velocities. This allows robot and exoskeleton designers to optimize for energy performance by understanding mass placements and power densities required for high performing legged locomotion. Finally, we present experimental data for an exoskeleton capable of assisting across running and walking speeds.
- Physical Description:
- 1 online resource (121 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:10190162
- ARK:
- ark:/48907/f3c53m0h
- ISBN:
- 9781369339628
- Catalog System Number:
- 990047190000203776
- Copyright:
- Sebastian Sovero, 2016
- Rights:
- In Copyright
- Copyright Holder:
- Sebastian Sovero
File | Description |
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Access: Public access | |
Sovero_ucsb_0035D_13105.pdf | pdf (Portable Document Format) |