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Gill Pratt. Wessler, Michael Alan, 1970- Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science 2005-10-14T19:18:47Z 2005-10-14T19:18:47Z 2002 2002 http://hdl.handle.net/1721.1/29228 51457238 Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2002. Includes bibliographical references (p. 123-126). Current methods for bipedal walking control include playback of recorded joint motion and the derivation of dynamic equations to map desired forces at the body to the required torques at the joints. Both methods require a significant amount of up-front knowledge about the structure and characteristics of the robot. This thesis presents an alternative method of control that removes the interdependence of the joint torques and simplifies the mathematics considerably. The simplification allows a programmer to create and tune a bipedal walk controller without requiring a complete model of the dynamics. The controller is implemented in a graphical programming language similar to fuzzy logic and neural networks, in which the algorithm is contained in the structure of the nodes rather than in the weights of the connections. The language and its development environment are specifically designed to assist the programmer to create and debug the algorithm in a live environment. by Michael Alan Wessler. Ph.D. 126 p. 5937472 bytes 5937281 bytes application/pdf application/pdf eng Massachusetts Institute of Technology M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 Electrical Engineering and Computer Science. NPL : a graphical programming language for motor control and its application to bipedal walking Neuronal Programming Language : a graphical programming language for motor control and its application to bipedal walking Thesis application/pdf false Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="3ab8ccf7-a285-44bb-9741-5a05bbed3390"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>NPL : a graphical programming language for motor control and its application to bipedal walking</Title> <Subtitle>Neuronal Programming Language : a graphical programming language for motor control and its application to bipedal walking</Subtitle> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2002</PublicationDate> <Authors> <Author> <DisplayName>Wessler, Michael Alan, 1970-</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Electrical Engineering and Computer Science.</Keyword> <Abstract>Current methods for bipedal walking control include playback of recorded joint motion and the derivation of dynamic equations to map desired forces at the body to the required torques at the joints. Both methods require a significant amount of up-front knowledge about the structure and characteristics of the robot. This thesis presents an alternative method of control that removes the interdependence of the joint torques and simplifies the mathematics considerably. The simplification allows a programmer to create and tune a bipedal walk controller without requiring a complete model of the dynamics. The controller is implemented in a graphical programming language similar to fuzzy logic and neural networks, in which the algorithm is contained in the structure of the nodes rather than in the weights of the connections. The language and its development environment are specifically designed to assist the programmer to create and debug the algorithm in a live environment.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>