Utilization of Robot Ankle Torque to Account for Foot Placement Error

Honors College Thesis

Public Deposited

Citeable URL: https://ir.library.oregonstate.edu/concern/honors_college_theses/2j62sb15q

Descriptions

Attribute Name	Values
Creator	Bernards, Mitchell F.
Abstract	Modern walking robots have shown that dynamic gaits can be achieved without ankle motors. It seems logical that the additional control authority that they provide can be used to improve the stability of the walking gait against foot placement errors caused by low level control. This thesis develops and compares different ankle control policies to improve system stability against these small errors. Shifting the center of pressure of the foot to the originally chosen touchdown location provided great increases in system stability without significant torque losses being observed. When the touchdown angle was allowed to be changed by the optimizer further increases in stability were observed at the cost of greater torque losses. Ankle control improved system stability without changes to footstep planning. Further changes to the footstep planning further increased the system stability.
License	All rights reserved
Resource Type	Honors College Thesis
Date Issued	2018-06-01
Degree Level	Bachelor's
Degree Name	Honors Bachelor of Science (H.B.S.)
Degree Field	Mechanical Engineering
Degree Grantor	Oregon State University
Commencement Year	2018
Advisor	Hurst, Jonathan W.
Committee Member	Hollinger, Geoff
Non-Academic Affiliation	Oregon State University. Honors College
Subject	Bipedalism Robotics
Déclaration de droits	In Copyright
Publisher	Oregon State University
Peer Reviewed	No
Language	English [eng]

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