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
License
This work is licensed under a Creative Commons Attribution-NonCommercial-Share Alike 4.0 International License.
Recommended Citation
Singh, Gurashish, "Dynamics and Control of Jumping Legged Robot" (2018). Mechanical and Aerospace Engineering Theses. 920.
https://mavmatrix.uta.edu/mechaerospace_theses/920
Comments
Degree granted by The University of Texas at Arlington