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Title:Movement theory inspired robot motion strategies and design of a bipedal walker
Author(s):Huzaifa, Muhammad Umer
Advisor(s):LaViers, Amy
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):Bipedal Robot
Robotics
Supervisory Control
Linear Temporal Logic
Laban/Bartenieff Movement Studies
Bartenieff's Basic Six
Core-located Actuation
Abstract:This work explores top down embodied movement analysis with reference to movement literature like Laban/Bartenieff Movement Studies (LBMS) and movement sequencing as in choreography. First, high-level movement behaviors are investigated for robot systems by modeling them as sequentially evolving state machines, motivated by choreographed human movements, where states define poses at particular instants. Here, tools from formal theory help in producing high-level movement behaviors by conditioning transitions between these states. Secondly, high-level movements are investigated by designing a bipedal robot closely mapping key movements from human walking as identified in Bartenieff's Basic Six. This design is further simplified for mathematical modeling in a plane and a controller is designed for generating a stable walking gait. This line of work is important because it gives an embodied aspect of robot movement planning which can inspire more intuitive robot control methods and robot designs.
Issue Date:2016-07-20
Type:Thesis
URI:http://hdl.handle.net/2142/92869
Rights Information:Copyright 2016 Muhammad Huzaifa
Date Available in IDEALS:2016-11-10
Date Deposited:2016-08


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