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Degree

Master of Science, Ohio State University, Electrical and Computer Engineering, 2012.

Abstract

This thesis is concerned with a problem of balancing the humanoid robot after an external impact. Dynamic model of the humanoid robot is derived using Lagrangian dynamic formulation. Use of the maximum joint accelerations to reject disturbance is studied. In our approach, we propose the use of non-natural force like thruster on the torso of the humanoid robot for balance recovery. Mathematical simulation of derived dynamic model is performed using MATLAB. Plotted results prove the validity and usefulness of the proposed approach. We also show that, acceleration compensation and using thruster are complementary to each other. We prove that both techniques can be used together to reject large disturbances in minimum time.

Subject Headings

Electrical Engineering; Engineering; Mechanical Engineering; Robotics; Robots

Keywords

Robot; Humanoid Robot; Push Recovery; Thruster; Maximum Joint Acceleration; Acceleration Compensation; Dynamic Equation; Euler-Lagrange; New Push Recovery Approach; 3-Link Model; Three Link Model

Committee / Advisors

Dr. Yuan Zheng (Advisor)
Dr. Hooshang Hemami (Committee Member)

Pages

64p.

Document number: osu1339752428
Permalink: http://rave.ohiolink.edu/etdc/view?acc_num=osu1339752428

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