Height simulation of dynamically balanced bipeds

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dc.contributor.advisorMacDonald, Bruce A.
dc.contributor.authorWilliams, Mark Stephen
dc.date.accessioned2005-07-27T23:31:53Z
dc.date.available2005-07-27T23:31:53Z
dc.date.issued1991
dc.descriptionBibliography: p. 125-129.en
dc.description.abstractThis thesis investigates a series of models of a dynamically balanced bipedal running robot. The simulation models are used to study the control of running height to aid the building of dynamically balanced legged systems. A simple mass on a spring model evolved into a complex system based on the use of a PID (Proportional­Integral-Derivative) controlled hydraulic actuator to inject energy into an air spring. The behaviour of hydraulic systems are nonlinear requiring detailed simulation. The simulation of these models is based on the study of the free body forces acting on the system. From the sum of these forces, a net acceleration is determined. A general simulation environment based on a fourth-order Runge-Kutta method, was implemented to solve the differential equations of motion. The thesis resulted in a biped model that can be accurately controlled to achieve a running height based only on the specification of a desired height.
dc.format.extentx, 129 leaves ; 30 cm.en
dc.identifier.citationWilliams, M. S. (1991). Height simulation of dynamically balanced bipeds (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/21913en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/21913
dc.identifier.isbn0315711175en
dc.identifier.lccTJ 211.4 W55 1991en
dc.identifier.urihttp://hdl.handle.net/1880/24507
dc.language.isoeng
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subject.lccTJ 211.4 W55 1991en
dc.subject.lcshRobots - Motion
dc.titleHeight simulation of dynamically balanced bipeds
dc.typemaster thesis
thesis.degree.disciplineComputer Science
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
ucalgary.thesis.accessionTheses Collection 58.002:Box 805 520535180
ucalgary.thesis.notesoffsiteen
ucalgary.thesis.uarcreleaseyen
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