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Master's Dissertation
DOI
Document
Author
Full name
Arthur Castello Branco de Oliveira
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2019
Supervisor
Committee
Silva, Paulo Sergio Pereira da (President)
Cordero, Arturo Forner
Novaes, Carlos Eduardo de Brito
Title in English
Dynamic bipedal locomotion based on hybrid zero dynamics control.
Keywords in English
Bipedal robot
Hybrid system
Limit cycle
Virtual constrains
Zero dinamics
Abstract in English
This work presents an alternative method for 3D bipedal gait design using independent controllers for the plane of motion frontal and sagittal. The use of virtual constraints to design a stable gait for the frontal system is fully developed and studied in this work and the resulting gait simulated. The results, although not definitive, are promising.
Title in Portuguese
Locomoção bípede dinâmica baseada na dinâmica zero híbrida.
Keywords in Portuguese
Controle (Teoria de sistemas de controle)
Robótica
Sistemas dinâmicos
Abstract in Portuguese
Esta tese apresenta um método alternativo de síntese de marcha bípede 3D usando controladores independentes projetados para os planos de movimento frontal e sagital. O uso de restrições virtuais no projeto de uma marcha estável para o plano frontal é completamente desenvolvido e estudado neste trabalho. A marcha resultante é simulada e os resultados, apesar de ainda não definitivos, são promissores.
 
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Publishing Date
2019-05-07
 
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