Height simulation of dynamically balanced bipeds
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1991
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Abstract
This 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 (ProportionalÂIntegral-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.
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Bibliography: p. 125-129.
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Citation
Williams, 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/21913