Graduation Semester and Year

2018

Language

English

Document Type

Thesis

Degree Name

Master of Science in Mechanical Engineering

Department

Mechanical and Aerospace Engineering

First Advisor

Alan P Bowling

Abstract

This research aims to studying the agility of legged robots particularly their interactions with the ground and achieve a jumping motion by using an operational space controller. Methods were developed to first formulate the equations of motions of the full system. Then we used the published impact and contact analytical framework to detect simultaneous, indeterminate impact and transition to contact with friction and addressed the well-known issues with energy consistency when using rigid body models for dynamic systems (i.e. there are no unusual gains in the energy after impact has ended). Non-penetration of the ground was achieved through online constraint embedding where degrees of freedom were reduced as any point came in to contact with the ground. Finally, operational space control was used to control the motor torques of the legged robot that would lift the foot off of the ground and simulate a jumping motion.

Keywords

Dynamics, Controls, Operational space control

Disciplines

Aerospace Engineering | Engineering | Mechanical Engineering

Comments

Degree granted by The University of Texas at Arlington

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