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osu1339752428.pdf (1.22 MB)
ETD Abstract Container
Abstract Header
Push Recovery of Humanoid Robot Using Thruster and Acceleration Compensation
Author Info
Oturkar, Siddharth A.
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=osu1339752428
Abstract Details
Year and Degree
2012, Master of Science, Ohio State University, Electrical and Computer Engineering.
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.
Committee
Dr. Yuan Zheng (Advisor)
Dr. Hooshang Hemami (Committee Member)
Pages
64 p.
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
;
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Citations
Oturkar, S. A. (2012).
Push Recovery of Humanoid Robot Using Thruster and Acceleration Compensation
[Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1339752428
APA Style (7th edition)
Oturkar, Siddharth.
Push Recovery of Humanoid Robot Using Thruster and Acceleration Compensation.
2012. Ohio State University, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=osu1339752428.
MLA Style (8th edition)
Oturkar, Siddharth. "Push Recovery of Humanoid Robot Using Thruster and Acceleration Compensation." Master's thesis, Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1339752428
Chicago Manual of Style (17th edition)
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Document number:
osu1339752428
Download Count:
803
Copyright Info
© 2012, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.