Print Email Facebook Twitter Gait initiation for a biped robot Title Gait initiation for a biped robot Author Truffino, J.M. Contributor Babuska, R. (mentor) Bombois, X.J.A. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Delft Center for Systems and Control Date 2009-04-23 Abstract In the last decade great progress is made in the field of biped walking robots. Developing and studying biped robots is done for several reasons, such as understanding how humans walk, creating assistive robots to fulfill household tasks or for commercial reasons. At the Delft Biorobotics Laboratory (DBL) various biped robots are built and studied to get a better understanding of how humans walk. The goal of DBL is to develop a humanoid robot with low energy consumption, high versatility and the ability to deal with large disturbances during active dynamic walking. In 2007 research started on 3D stability in limit cycle walking, for this purpose a humanoid biped robot named Flame was built. At the start of the current study, the biped robot Flame was able to walk, the problem was that the biped was not able to start walking from a standstill. Flame has to be "launched" by hand to get in a stable walking cycle. With automatic stable gait initiation the biped robot Flame would be able to function more autonomously and thereby provide better test circumstances for different stability analyses. This is mainly due to constant initial conditions for every walking cycle. The goal of this study is to develop a gait initiation procedure where, after the gait initiation (at the first heelstrike), the biped robot is within the basin of attraction and will thus perform a stable walking motion. A performance measure is defined to analyze the performance of the gait initiation procedure in the biped robot Flame. This measure shows some variation in the different gait initiation trials, but Flame can reach a stable walking motion from a standstill by using a falling trajectory. Now the biped robot Flame is able to automatically start walking from a standstill. To reference this document use: http://resolver.tudelft.nl/uuid:33db2b27-cd09-4db4-a558-d4e6929dc1c4 Part of collection Student theses Document type master thesis Rights (c) 2009 Truffino, J.M. Files PDF Truffino_J..pdf 3.29 MB Close viewer /islandora/object/uuid:33db2b27-cd09-4db4-a558-d4e6929dc1c4/datastream/OBJ/view