MacDonald, Bruce A.Williams, Mark Stephen2005-07-272005-07-271991Williams, 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/219130315711175http://hdl.handle.net/1880/24507Bibliography: p. 125-129.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 (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.x, 129 leaves ; 30 cm.engUniversity 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.TJ 211.4 W55 1991Robots - Motionmaster thesis10.11575/PRISM/21913TJ 211.4 W55 1991