Dissertation
Bipedal standing/balance: a locomotion gait via impulsive control - with initiation, progression and stopping
Doctor of Philosophy (Ph.D.), Drexel University
Nov 1993
DOI:
https://doi.org/10.17918/00010188
Abstract
A bipedal locomotion system is studied in an effort to understand and characterize the previously uninvestigated phases of the bipedal locomotion process, specifically, the standing/balance phase and the transition phases of initiation and stopping. Two and three dimensional-three element models, consisting of two lower limbs and a body are employed for the study. The former is utilized for the purpose of identifying the mechanism(s) responsible for a stopped, standing/balance gait. The latter is employed for a structural stability analysis of the system under perturbations to the system parameters. The equations governing the motion of the system are obtained via Lagrangian dynamics techniques; retained in their nonlinear form; and the discontinuous, impulsive contact events of impact and transfer of support are incorporated into the model. Impulsive torques applied to the support limb in the direction of impending motion result in a standing/balance gait characterized by a continuous sequence of impact and switching with only a small finite displacement of the tip of each limb above the ground. We also address the issues of gait initiation and stopping and show that the system is capable of undergoing a stable transition between a steady progression gait and the standing/balance gait. Furthermore, we show that a steady progression gait can also be established via the application of impulsive torques. In summary, we show that impulsive control is sufficient for establishing all phases of the bipedal locomotion process. Finally, we show through phase space portraits and Poincare mapping techniques that the bipedal locomotion system is structurally stable for a large range of values of the system parameters.
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Details
- Title
- Bipedal standing/balance
- Creators
- Kim Denise Reisinger
- 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
- xi, 108 pages
- Resource Type
- Dissertation
- Language
- English
- Academic Unit
- College of Engineering (1970-2026); Drexel University
- Other Identifier
- 991021889097204721