Transfer of support in a dynamic walking robot

摘要

My goal is to understand how a legged system can transfer support between the feet during a dynamic walking gait. My approach is to build a legged robot that uses a dynamic gait and to explore control algorithms that provide smooth transfer. The robot I have built has five links that move in a plane: a pelvis, two legs, and two feet. The links are connected by revolute joints which are actuated by electric motors. The robot can balance on one foot and walk with a dynamic rocking gait. Ground speed matching has been used to improve the exchange of support. In ground speed matching the closing velocity between the foot and the ground is manipulated by appropriate ankle motions. The improvement in transfer of support included reduced peak forces and a gradual loading of the striking foot. Thesis Supervisor: Marc H. Raibert Title: Professor of Electrical Engineering and Computer Science and Professor of Brain and Cognitive Sciences Thesis Reader: J. Kenneth Salisbury Jr. Title: Princi...