Identification and stability analysis of periodic motions for a planar legged runner with a rigid body and a compliant leg

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buir.advisorMorgül, Ömer
dc.contributor.authorBayır, Güneş
dc.date.accessioned2016-01-08T18:26:08Z
dc.date.available2016-01-08T18:26:08Z
dc.date.issued2013
dc.departmentDepartment of Electrical and Electronics Engineeringen_US
dc.descriptionAnkara : The Department of Electrical and Electronics Engineering and the Graduate School of Engineering and Science of Bilkent University, 2013.en_US
dc.descriptionThesis (Master's) -- Bilkent University, 2013.en_US
dc.descriptionIncludes bibliographical references leaves 56-62.en_US
dc.description.abstractThe Spring-Loaded Inverted Pendulum (SLIP) model is an extensively used and fundamental template for modeling human and animal locomotion. Despite its wide use, the SLIP is a very simple model and considering the effects of body dynamics only as a point mass. Although the assumption of a point mass for the upper body simplifies system dynamics, it prevents us from performing detailed analysis for more realistic robot platforms with upper trunks. Hence, we consider an extension to the classic SLIP model to include the upper body dynamics in order to better understand human and animal locomotion. Due to its coupled rotational dynamics, extending the SLIP model to the Body-Attached Spring-Loaded Inverted Pendulum (BA-SLIP) brings additional difficulties in the analysis process, making it more difficult to obtain analytical solutions. Consequently, simulations have been used to reveal the periodic structure behind locomotion with this model, and to find fixed points of discretized system dynamics. These fixed points correspond to periodic motions of the system and are important in designing controllers since they are used as steady-state control targets for most applications. The main concern of this thesis is to find fixed points of the BA-SLIP model and to investigate the dimension of the fixed point manifold. We performed extensive simulation studies to find fixed points of the system and the properties of the underlying space with a PD controller. Our simulations revealed the existence of periodic gaits, in which the upper body should be downward oriented for stable locomotion. Additionally, a region of stability is found such that the model sustains periodic gaits when it stays inside this region. Finally, we show that fixed points for running with upright body orientation are unstable when system dynamics are regulated with a constant parameter controller. We also present some simulation results which indicate the existence of stable periodic motions when controllers with time varying parameters, that use current state information, are used.en_US
dc.description.degreeM.S.en_US
dc.description.statementofresponsibilityBayır, Güneşen_US
dc.format.extentxv, 69 leaves, tables, graphsen_US
dc.identifier.urihttp://hdl.handle.net/11693/15884
dc.language.isoEnglishen_US
dc.publisherBilkent Universityen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectSpring-Mass Hopperen_US
dc.subjectSpring-Loaded Inverted Pendulum (SLIP)en_US
dc.subjectLegged Locomotionen_US
dc.subjectFixed Pointen_US
dc.subjectPD Controlen_US
dc.subject.lccTJ211.35 .B39 2013en_US
dc.subject.lcshRobots--Control systems.en_US
dc.subject.lcshHuman locomotion.en_US
dc.subject.lcshPendulum.en_US
dc.subject.lcshMotion control devices.en_US
dc.titleIdentification and stability analysis of periodic motions for a planar legged runner with a rigid body and a compliant legen_US
dc.typeThesisen_US
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