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Table Of Contents

Introduction
1.1 History of Robots
1.1.1 Industrial robots story
1.1.2 Service robots
1.2.1 Outline
1.2.2 Themes of legged robots
1.3 Why study legged machines?
1.5 What are problems of biped control?
ings useful for friendly communication with humans
ment that we use now
1.7 Objectives
1.8 Thesis contents
Humanoid robots
2.2 Types of researches on humanoid robots
2.3 Main humanoid robot research projects
2.3.1 The Humanoid Robot at Waseda University
Limbs and Robotics
2.3.2 Honda robots
2.3.3 The HRP project
2.4 Other humanoids
2.4.1 The Johnnie project
2.4.2 The Robonaut project
2.4.3 The COG project
2.4.4 The Einstein-HUBO humanoid project
2.4.5 Toyota Partner Robots
2.4.6 The Rh-1 humanoid project
humanoid
2.4.7 Humanoid entertainment robots
3.1 Human biomechanics
3.1.1 Kinematics
3.1.2 Human locomotion
Normally it exceeds body weight at two intervals, [21]
3.1.4 Human walking trajectories
3.2 Biped locomotion stability criteria
3.2.1 Zero Moment Point (ZMP)
3.2.2 Foot-Rotation Indicator (FRI) Point
3.2.4 Comparison between the biped locomotion stability criteria
4.1 Passive and active walking
4.1.1 Passive walking
4.1.2 Active walking
4.2 Static and dynamic gait
4.2.1 Static gait
4.2.2 Dynamic gait
4.3 Gait generation models
4.3.1 Joint space method
4.3.2 Virtual forces model
4.3.3 Mass distributed models
transformations of the whole-body dynamics model
real-time
4.3.5 Two Masses Inverted Pendulum Mode (TMIPM)
4.3.6 The Multiple Masses Inverted Pendulum Mode (MMIPM)
4.3.7 Mass concentrated models
4.3.8 The 2D Inverted pendulum model
4.3.9 Laws of motion of a 3D Inverted pendulum model
4.3.10 Cart-table model
(blue line) and COGx (red line)
4.3.11 Discussion about inverted pendulum and cart-table models
Gait generation method
5.1 Outline
5.2 Layers of the “Gait generation” method
5.3 Layer 1: Global motion
5.4 Layer 2: Local motion - “Local Axis Gait”
5.4.1 Swing foot motion
5.4.2 Local axis gait algorithm
5.6 Cases of applying layers 1 to 3
5.7 Layer 4: Kinematics and dynamics mod-
inverse Jacobian vs. POE
5.7.2 Whole-body humanoid kinematics model
5.7.3 Forward kinematics
5.7.4 Inverse kinematics
5.7.5 Inverse dynamics
5.8 Layer 5: Off-line control
pattern (dashed black line) of the left frontal ankle joint: q12
5.9 Acyclic Gait
5.9.1 Related work
5.9.2 Problem Statement
5.9.3 Overview of the Method
5.9.4 Upper body motion
5.9.5 Whole body motion
Results
6.1 Rh-1 specifications
6.2 HRP-2 specifications
6.3 Simulation and Experimental results
6.3.1 Simulation results on the Rh-1 humanoid robot plat- form
6.3.2 Experimental results on Rh-1 humanoid robot plat- form
four steps forward
(red line) and left foot (blue line)
I7 to I12 for the left leg. Actual currents during walking motion
and p4 are the subgoals needed to make a gesture
7.1 Conclusions
7.2 Contributions
7.3 Future work
Appendices
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PhD_thesis_marbulu09.pdf

PhD_thesis_marbulu09.pdf

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Published by Conduraru Alina
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Categories:Types, Research
Published by: Conduraru Alina on Jul 18, 2013
Copyright:Attribution Non-commercial

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07/19/2013

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