Dissertation/Thesis Abstract

Design and Control of a Bipedal Robot
by Lahr, Derek Frei, Ph.D., Virginia Polytechnic Institute and State University, 2014, 167; 10596513
Abstract (Summary)

The work presented here aims to lessen the hurdles that stand in the way through the research and development of new humanoid robot technologies. To be successful in the role of an emergency first responder requires a fantastic array of skills. One of the most fundamental is the ability to just get to the scene. Unfortunately, it is at this level that humanoid robots currently struggle.

This research focuses on the complementary development of physical hardware, digital controllers, and trajectory planning necessary to achieve the research goals of improving the locomotion capabilities of a humanoid robot. To improve the physical performance capabilities of the robot, this research will first focus on the interaction between the hip and knee actuators. It is shown that much like the human body, a biped greatly benefits from the use of biarticular actuation. Improvements in efficiency as much as 30% are possible by simply interconnecting the hip roll and knee pitch joints. (Abstract shortened by ProQuest.)

Indexing (document details)
Advisor: Hong, Dennis W.
Commitee:
School: Virginia Polytechnic Institute and State University
Department: Mechanical Engineering
School Location: United States -- Virginia
Source: DAI-B 78/09(E), Dissertation Abstracts International
Source Type: DISSERTATION
Subjects: Mechanical engineering
Keywords: Biarticular actuation, Bipedal locomotion, Humanoid robots
Publication Number: 10596513
ISBN: 978-1-369-75477-3
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