Design of a Planar Walking Machine that Integrates Mechanical and Control Design Approaches
Advisor:Schmiedeler, James P.
Westervelt, Eric R.
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Publisher:The Ohio State University
Series/Report no.:The Ohio State University. Department of Mechanical Engineering Honors Theses;2005
In the past 35 years, significant research has been devoted to understanding biped locomotion. However, a sizable number of the prototypes developed thus far have been limited to static or quasi-static gaits, and lack the ability to walk dynamically. This inherent inability to walk dynamically leads to walking cycles that are generally quite energetically inefficient. A large part of these inefficiencies are due to complex mechanical designs that lack a dynamic control design that compliment each other. This thesis presents a design approach that integrates both the controller and mechanical design by designing and building a walking machine that will be used as an experimental platform to validate gait control algorithms that induce dynamic walking. Through experimental analysis, using the constructed walking machine, a standard framework can be developed that relates both the mechanical and controller design systematically. Once assembled, the mechanical integrity of the machine will be studied during initial experimentation and design changes will be made to improve its robustness. This final framework will allow future biped prototypes of different morphologies to perform stable, energy efficient walking cycles.
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