3-D humanoid gait simulation using an optimal predictive control

Download
index.pdf
2005
Özyurt, Gökhan
Show full item record
258
views
103
downloads
In this thesis, the walking of a humanoid system is simulated applying an optimal predictive control algorithm. The simulation is built using Matlab and Simulink softwares. Four separate physical models are developed to represent the single support and the double support phases of a full gait cycle. The models are three dimensional and their properties are analogous to the human̕s. In this connection, the foot models in the double support phases include an additional joint which connects the toe to the foot. The kinematic relationships concerning the physical models are formulated recursively and the dynamic models are obtained using the Newton ا Euler formulation. The computed torque method is utilized at the level of joints. In the double support phase, the redundancy problem is solved by the optimization of the actuating torques. The command accelerations required to control the gait are obtained by applying an optimal predictive control law. The introduced humanoid walker achieves a sustainable gait by tuning the optimization and prediction parameters. The control algorithm manages the tracking of the predefined walking pattern with easily realizable joint accelerations. The simulation is capable of producing all the reaction forces, reaction moments and the values of the other variables. During these computations, a three dimensional view of the humanoid walker is animated simultaneously. As a result of this study, a suitable simulation structure is obtained to test and improve the mechanical systems which perform bipedal locomotion. The modular nature of the simulation structure developed in this study allows testing the performance of alternative control laws as well.
Automatic machinery.
http://etd.lib.metu.edu.tr/upload/12606534/index.pdf
https://hdl.handle.net/11511/15319
Graduate School of Natural and Applied Sciences, Thesis

Suggestions

Sliding mode control of linearly actuated nonlinear systems
Durmaz, Burak; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2009)
This study covers the sliding mode control design for a class of nonlinear systems, where the control input affects the state of the system linearly as described by (d/dt)x=A(x)x+B(x)u+d(x). The main streamline of the study is the sliding surface design for the system. Since there is no systematic way of designing sliding surfaces for nonlinear systems, a moving sliding surface is designed such that its parameters are determined in an adaptive manner to cope with the nonlinearities of the system. This adapt...
Modeling and simulation of a maneuvering ship
Pakkan, Sinan; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2007)
This thesis documents the studies conducted in deriving a mathematical model representing the dynamics of a maneuvering ship to be implemented as part of an interactive real-time simulation system, as well as the details and results of the implementation process itself. Different effects on the dynamics of ship motions are discussed separately, meaning that the effects are considered to be applied to the system one at a time and they are included in the model simply by the principle of superposition. The mo...
A programmable control unit for industrial applications
Güngör, Mustafa Kemal; Hızal, Mirzahan; Department of Electrical and Electronics Engineering (2003)
In this thesis, the automation of the long term and cyclic processes by using a programmable control unit is aimed. To achieve this goal, timing relays and various microcontrollers are investigated. PIC microcontroller is chosen to implement the control unit due to its advantages like high speed, Harvard and RISC architecture, low cost and flexibility for programming. Theory of the PIC microcontrollers is studied and a controller unit to be used in the mentioned processes is designed. Some features are adde...
Design, fabrication and implementation of a vibration based mems energy scavenger for wireless microsystems
Sarı, İbrahim; Balkan, Raif Tuna; Department of Mechanical Engineering (2008)
This thesis study presents the design, simulation, micro fabrication, and testing steps of microelectromechanical systems (MEMS) based electromagnetic micro power generators. These generators are capable of generating power using already available environmental vibrations, by implementing the electromagnetic induction technique. There are mainly two objectives of the study: (i) to increase the bandwidth of the traditional micro generators and (ii) to improve their efficiency at low frequency environmental v...
Single and multi agent real-time path search in dynamic and partially observable environments
Ündeğer, Çağatay; Polat, Faruk; Department of Computer Engineering (2007)
In this thesis, we address the problem of real-time path search in partially observable grid worlds, and propose two single agent and one multi-agent search algorithm. The first algorithm, Real-Time Edge Follow (RTEF), is capable of detecting the closed directions around the agent by analyzing the nearby obstacles, thus avoiding dead-ends in order to reach a static target more effectively. We compared RTEF with a well-known algorithm, Real-Time A* (RTA*) proposed by Korf, and observed significant improvemen...
Citation Formats
G. Özyurt, “3-D humanoid gait simulation using an optimal predictive control,” M.S. - Master of Science, Middle East Technical University, 2005.
METU IIS - Integrated Information Service open@metu.edu.tr