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Title:Biped walking control design based on zero moment point dynamics
Author(s):Fan, Yinai
Advisor(s):Hutchinson, Seth
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):biped walking, zero moment point
Abstract:Biped walking control for humanoid robots has been a challenging yet promising research topic in the past decades. The complicated nonlinear dynamics and numerous degrees of freedom are the main obstacles for biped walking control. This thesis studies the complete control scheme of biped walking control based on Zero Moment Point dynamics. Starting with basic de nitions, a new trajectory planning method using boundedness solutions of Linear Inverted Pendulum Model is studied and implemented as a replanning algorithm. Stabilizers for walking trajectory tracking are investigated and evaluated, with an emphasis on the Whole Body Cooperation method, which is then implemented along with the replanning algorithm in simulations.
Issue Date:2017-04-28
Type:Thesis
URI:http://hdl.handle.net/2142/97512
Rights Information:Copyright 2017 Yinai Fan
Date Available in IDEALS:2017-08-10
Date Deposited:2017-05


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