Movement theory inspired robot motion strategies and design of a bipedal walker

Huzaifa, Muhammad Umer

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https://hdl.handle.net/2142/92869 Copy

Description

Title

Movement theory inspired robot motion strategies and design of a bipedal walker

Author(s)

Huzaifa, Muhammad Umer

Issue Date

2016-07-20

Director of Research (if dissertation) or Advisor (if thesis)

LaViers, Amy

Department of Study

Mechanical Sci & Engineering

Discipline

Mechanical Engineering

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(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.

Graduation Semester

2016-08

Type of Resource

text

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http://hdl.handle.net/2142/92869

Copyright and License Information

Copyright 2016 Muhammad Huzaifa

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