Model-based identification and control of a one-legged hopping robot

buir.advisorMorgül, Ömer
dc.contributor.authorOrhon, Hasan Eftun
dc.date.accessioned2018-02-15T08:22:55Z
dc.date.available2018-02-15T08:22:55Z
dc.date.copyright2018-01
dc.date.issued2018-01
dc.date.submitted2018-02-14
dc.descriptionCataloged from PDF version of article.en_US
dc.descriptionThesis (M.S.): Bilkent University, Department of Electrical and Electronics Engineering, İhsan Doğramacı Bilkent University, 2018en_US
dc.descriptionIncludes bibliographical references (leaves 51-58).en_US
dc.description.abstractSpring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion. Despite its wide use, the SLIP model includes non-integrable stance dynamics that prevent analytical solutions for its equations of motion. Fortunately, there are approximate analytical solutions for different SLIP variants. However, the practicality of such approximations are mostly tested on simulation studies with a few notable exceptions. This thesis extends upon a recent approximation to a hip torque actuated dissipative SLIP (TD-SLIP) model that uses torque actuation to compensate for energy losses. Systematic experiments for careful assessment of the predictive performance of the approximate analytical solution is presented on a well-instrumented one-legged hopping robot which is revised to enhance compatibility and accuracy of the system. Electronic structure of the robot is modified according to TD-SLIP model such that robot uses a real-time operating system to increase processing speed. Using the parameters and results generated by the predictive performance of the approximate analytical solution, a model-based controller is designed and implemented on the robot platform to generate a stable closed-loop running behaviour on the one legged hoping robot platform. In addition, ground reaction forces during the stance phase on the experimental platform is investigated and compared with the human running and the traditional SLIP model data to understand if torque-actuated models approximate natural locomotion better than traditional model.en_US
dc.description.provenanceSubmitted by Betül Özen (ozen@bilkent.edu.tr) on 2018-02-15T08:22:55Z No. of bitstreams: 1 10181839.pdf: 5924028 bytes, checksum: 9f94273ff80707befa88cfabf670803e (MD5)en
dc.description.provenanceMade available in DSpace on 2018-02-15T08:22:55Z (GMT). No. of bitstreams: 1 10181839.pdf: 5924028 bytes, checksum: 9f94273ff80707befa88cfabf670803e (MD5) Previous issue date: 2018-02en
dc.description.statementofresponsibilityby Hasan Eftun Orhon.en_US
dc.format.extentxii, 62 pages : illustrations ; 30 cmen_US
dc.identifier.itemidB157578
dc.identifier.urihttp://hdl.handle.net/11693/35939
dc.language.isoEnglishen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectLegged locomotionen_US
dc.subjectSLIP modelen_US
dc.subjectModel-based controlleren_US
dc.subjectGround reaction forceen_US
dc.subjectBio-inspired Roboticsen_US
dc.subjectAproximate analytical solutionen_US
dc.subjectReal Time Operating Systemen_US
dc.titleModel-based identification and control of a one-legged hopping roboten_US
dc.title.alternativeTek-bacaklı zıplayan robot üzerinde model tabanlı tanımlama ve kontrolen_US
dc.typeThesisen_US
thesis.degree.disciplineElectrical and Electronic Engineering
thesis.degree.grantorBilkent University
thesis.degree.levelMaster's
thesis.degree.nameMS (Master of Science)

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