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Dissertation
Biped locomotion on irregular terrain
Doctor of Philosophy (Ph.D.), Drexel University
1994
DOI:
https://doi.org/10.17918/00007444
Abstract
Biped locomotion on irregular terrain was studied with computer simulations of two and three dimensional bipeds with hip and knee joints. The dynamic models included all of the nonlinear terms in the equations of motion. The three dimensional motion consisted of body torsional motion about the biped vertical axis. A walking gait, named the "Quad" gait, was defined with a combination of linear and quadratic constraint equations that defined the biped joint motion. Locomotion was studied on a variety of rigid surfaces, including sloped, sinusoidal, surfaces with randomized irregularities, and a ground surface defined by a chaotic form of the Duffing's equation. Variations in the gait and body torsional motion, as well as biped system perturbations, were used to study gait stability. It was found that the Quad gait had the potential to be used as a basic gait for locomotion over a wide variety of surfaces. There were certain gait features, such as the phasing of the knee constraint and the body torsional motion, that could be utilized to enhance the biped system's stability and efficiency. The biped model and the ground surface must both be considered to be a part of the dynamical system, as the biped response mirrors the characteristics of the environment that it traverses. Thus it is of great importance to define the ground surface carefully in studies of biped locomotion, in order to fully understand and appreciate the behavior of the biped system.
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Details
- Title
- Biped locomotion on irregular terrain
- Creators
- Barbara Ellen McCown-McClintick
- Contributors
- Gordon D. Moskowitz (Advisor) - Drexel University, Drexel University (1970-)
- Awarding Institution
- Drexel University
- Degree Awarded
- Doctor of Philosophy (Ph.D.)
- Publisher
- Drexel University; Philadelphia, Pennsylvania
- Number of pages
- xiii, 163 pages
- Resource Type
- Dissertation
- Language
- English
- Academic Unit
- College of Engineering (1970-2026); Drexel University
- Other Identifier
- 991021888962904721