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Type of Document Dissertation Author Harmeyer, Sean Gregory Author's Email Address sean.g.harmeyer@nasa.gov URN etd-12082006-164915 Title Acceleration Capability Analysis as a Development Tool for Motion Control of Legged Robotic Systems Degree Doctor of Philosophy Department Aerospace and Mechanical Engineering Advisory Committee
Advisor Name Title Xiaobo Sharon Hu Committee Chair Alan Bowling Committee Member Michael Stanisic Committee Member Robert Howland Committee Member Steven Skaar Committee Member Keywords
- acceleration capability
- legged systems
- robotics
Date of Defense 2006-11-28 Availability unrestricted Abstract The work presented here demonstrates a method of using Acceleration or Dynamic Capability analysis to generate walking gaits on dynamicallysimulated legged robotic systems. An illustrative example, using a six degree-of-freedom robotic manipulator simulation, demonstrates the
major contributions of the method and allows some insight into the extension of the aforementioned method into motion generation of legged systems. Legged motion is accomplished by determining
postures which aid in the system's ability to resist impacts more effectively. These positions are chosen at different times, depending
on the situation at hand. A simplified control approach is proposed which generates walking motions and rudimentary agility, and a more advanced control method is proposed which allows higher speeds and greater agility but is more difficult to stabilize entirely. Also, a
simplified dynamic interaction model is presented which allows for more realistic dynamic simulations without additional computational
cost.
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