Algorithms for Complex Bipedal Walking
Typ dokumentu
disertační práceAutor
Dolinský, Kamil
Vedoucí práce
Čelikovský, Sergej
Studijní obor
Řídící technika a robotikaStudijní program
Elektrotechnika a informatikaInstituce přidělující hodnost
České vysoké učení technické v Praze. Fakulta elektrotechnická. Katedra řídicí technikyMetadata
Zobrazit celý záznamAbstrakt
This thesis studies the problem of parameter estimation, model identi-
fication and state estimation for underactuated bipedal walking robots.
Two main results were developed. The first result is a novel identification
method suited for this problem. The second result is the extension of
existing algorithms for state estimation to the case of the hybrid model
of an underactuated walking robot.
The identification method takes advantage of the linear structure of the
model with respect to estimated parameters. The resulting estimator
is calculated iteratively and maximizes the likelihood of the data. The
method was tested on both simulated and experimental data. Simulations
were carried out for an underactuated walking robot with a distance meter
to measure absolute orientation. Laboratory experiments were carried
out on a leg of a laboratory walking robot model equipped with a threeaxis
accelerometer and gyroscope to measure absolute orientation. The
method performs favorably in comparison with other benchmark estimation
algorithms and both the simulations and the laboratory experiments
con rmed its high potential for the use in identi cation of underactuated
robotic walkers.
The state estimators were applied to estimate the absolute orientation
of an underactuated walking robot in the presence of impacts which occur
when the leg of the robot hits the ground. The proposed estimation
scheme was tested on simulations of a 3-link robot and shows that proposed
extensions yields improved estimation performance.
Kolekce
- Disertační práce - 13000 [713]
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