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Doctoral Thesis
DOI
10.11606/T.3.2016.tde-28062016-073223
Document
Author
Full name
Carlos Eduardo de Brito Novaes
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2016
Supervisor
Committee
Silva, Paulo Sergio Pereira da (President)
Cordero, Arturo Forner
Cruz, José Jaime da
Terra, Marco Henrique
Yoneyama, Takashi
Title in Portuguese
Modelagem e controle de marcha de robôs bípedes com disco de inércia.
Keywords in Portuguese
Controle (Teoria de sistemas e controle)
Robôs
Robótica
Síntese de trajetórias
Sistemas dinâmicos
Sistemas não lineares
Abstract in Portuguese
Esta tese trata de um robô bípede em caminhar dinâmico. Neste robô, que normalmente é um sistema sub-atuado, fazemos uso de um disco de inércia que funciona num certo sentido como um atuador adicional. Através deste disco, obtém-se mais liberdade para a elaboração de passos repetitivos e um aumento na robustez. Por outro lado, o sistema de controle dos passos deve controlar, além do passo propriamente dito, também a velocidade do disco, de modo que não sejam saturados os atuadores (motores elétricos). Apresentamos então um controlador capaz de realizar estas ações simultaneamente.
Title in English
Modeling and gait control of bipedal robots with flywheel.
Keywords in English
Bipedal robot
Non-linear control
Trajectory planning
Abstract in English
This Thesis is about a bipedal robot in a dynamic walking gait. In this robot, which is usually a under-actuated system, a inertial wheel is employed and acts as an additional actuator. By using this wheel, one can design a cyclic walking gait with increased robustness and with more freedom. On the other hand, the control system must take care of the step itself, and also must ensure that the wheel speed does not exceed the actuators (motors) limits. We present a controller able to perform this tasks.
 
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Publishing Date
2016-06-28
 
WARNING: The material described below relates to works resulting from this thesis or dissertation. The contents of these works are the author's responsibility.
  • MURGUEYTIO, Zoraida Violeta Lopez, Pereira da Silva, Paulo Sérgio, and BRITO NOVAES, CARLOS EDUARDO. Closed-Loop Performance Analysis of Algebraic Estimators [doi:10.1007/s40313-013-0078-2]. Journal of Control, Automation and Electrical Systems [online], 2013, vol. 24, p. 725-740.
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