Gait synthesis and controller design for dynamic 3D bipedal robot walking
| Author(s) | Thanki, Dhruv Ashwinkumar | |
| Date Accessioned | 2024-10-29T16:25:30Z | |
| Date Available | 2024-10-29T16:25:30Z | |
| Publication Date | 2024 | |
| SWORD Update | 2024-10-20T16:02:08Z | |
| Abstract | The advancement of humanoid robots continues to open new avenues for automation and efficiency across various sectors. This thesis documents the development of dynamic gait synthesis and controller design for a 3D bipedal robot, focused on achieving stable and efficient locomotion. A detailed examination of a floating-base hybrid dynamic model demonstrates how it encapsulates the complex interactions between the robot’s multi-body system and the environment. Utilizing advanced control strategies, including Hybrid Zero Dynamics (HZD) and trajectory optimization frameworks, the study generates an offline library of optimized gaits. This library is proposed to assist in motion planning within clustered spaces by enabling the switching between gaits as needed. Results confirm the robot’s capability to maintain stability and adapt to different terrains, underscoring its applicability in assistive technologies and industrial automation. The research underlines the potential of humanoid robots to enhance operational efficacy in complex real-world settings, promoting their integration into human-centric environments. | |
| Advisor | Poulakakis, Ioannis | |
| Degree | M.S. | |
| Department | University of Delaware, Department of Mechanical Engineering | |
| DOI | https://doi.org/10.58088/tws4-en15 | |
| Unique Identifier | 1493573704 | |
| URL | https://udspace.udel.edu/handle/19716/35420 | |
| Language | en | |
| Publisher | University of Delaware | |
| URI | https://www.proquest.com/pqdtlocal1006271/dissertations-theses/gait-synthesis-controller-design-dynamic-3d/docview/3118806723/sem-2?accountid=10457 | |
| Keywords | Hybrid Zero Dynamics | |
| Keywords | Humanoid robots | |
| Keywords | Human-centric environments | |
| Keywords | Locomotion | |
| Title | Gait synthesis and controller design for dynamic 3D bipedal robot walking | |
| Type | Thesis |