Biologically-plausible six-legged running : control and simulation
Name
53883925-MIT.pdf
Description
Full printable version
Size
4.17 MB
Format
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Checksum (MD5)
8960a2f8296be02f63790670c5b8b607
Author(s)
Malchano, Matthew David, 1980-
Advisor(s)
Hugh M. Herr.
Date Issued
2003
Publisher
Massachusetts Institute of Technology
Abstract
This thesis presents a controller which produces a stable, dynamic 1.4 meter per second run in a simulated twelve degree of freedom six-legged robot. The algorithm is relatively simple; it consists of only a few hand-tuned feedback loops and is defined by a total of 13 parameters. The control utilizes no vestibular-type inputs to actively control orientation. Evidence from perturbation, robustness, motion analysis, and parameter sensitivity tests indicate a high degree of stability in the simulated gait. The control approach generates a run with an aerial phase, utilizes force information to signal aerial phase leg retraction, has a forward running velocity determined by a single parameter, and couples stance and swing legs using angular momentum information. Both the hypotheses behind the control and the resulting gait are argued to be plausible models of biological locomotion.
Description
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.
Includes bibliographical references (p. 63-66).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
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