FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W2804097105> ?p ?o ?g. }

• W2804097105 abstract "Ditch crossing is one of the essential capabilities required for a biped robot in disaster managementand search and rescue operations. This thesis presents di�erent approaches for trajectory generationof a planar biped robot crossing a wide ditch, which is de�ned as a ditch for which the ankle toankle stretch required to cross the ditch is equal to or more than the leg length of the biped robot.Crossing a wide ditch can be considered as an application of long step walking. It is an extremecase walking demanding more attention than normal walking. In crossing a wide ditch the di�cultylies in generating trajectories considering friction and impact. With the proposed approaches in thiswork trajectories are generated for crossing wide ditch considering a least friction coe�cient of 0.15also. With the analysis carried out in this work, some of the key issues to be considered in crossinga wide ditch are identi�ed.The thesis starts with proposing an o�ine approach for �nding feasible trajectories for dynamicallycrossing a wide ditch in ideal conditions. Later an online approach for the same task isproposed using the concept control constraints. The e�orts have been extended further to proposea real time approach for �nding joint trajectories crossing a wide ditch with uncertainties and alsoto �nd optimal solutions with Genetic Algorithm (GA).In generating feasible trajectories o�ine for a biped robot to dynamically cross a wide ditch,the dynamic balance of the biped robot, friction between the robot foot and ground, impact onthe foot, limitations on the joint actuator torques and angular velocities are considered. The bipedrobot is modeled as a seven link planar robot with the ditch crossing task consisting of two singlesupport phases and a double support phase. An algorithm is developed to �nd the joint trajectoriesand the joint torques in each phase of ditch crossing by formulating the ditch crossing task as aconstrained nonlinear optimization problem. In order to make the algorithm converge fast and to givefeasible solutions, additional constraints called Adopted Constraints (ACs) are incorporated into thesystem of constraints. With time being one of the parameters, the developed algorithm adaptivelyadjusts the time for crossing a wide ditch. The signi�cance of ground reaction force constraintsin obtaining feasible solutions for crossing the wide ditch is shown through simulations. Feasiblesolutions obtained from simulation results provide not only the feasible joint angle trajectories, butalso the joint torques required for the selection of actuators for a biped robot crossing the wideditch. From the results obtained it is felt that an approach for �nding faster solutions (trajectories)is essential for studying the behavior of the biped robot with various initial postures.Ful�lling the above requirement this work also proposes a multibody dynamics approach togenerate online trajectories. Trajectories are generated using control constraints that depend on thehorizontal distance traveled by the center of mass and are not explicitly dependent on time. Behaviorof the biped robot for various initial postures is studied considering dynamic balance, friction, andimpact in order to �nd the preferred initial postures considering the net energy consumption andpeak power requirements at various joints. Several cases of friction, zero moment point location,and the center of mass height variation are considered in the study. Using the proposed approach,feasible trajectories for an adult sized biped robot could be generated for a wide ditch of 1.05 mwidth at coe�cients of friction as low as 0.2. The results obtained are useful for designing referencetrajectories and actuation systems for biped robots that need to cross wide ditches or take large steps.Time needed for trajectory generation is found to be su�ciently low for online implementation.The work has been extended for generating trajectories for wide ditch crossing with uncertainties.viiiWide ditch crossing with landing uncertainties by a planar biped robot demands real-time solutions,at the same time it has to ful�ll the necessary criteria mentioned before. Besides using the timeindependentcontrol constraints, considering the impact, dynamic balance and friction, to generatereal time solutions, a novel concept called the point of feasibility is introduced, for bringing thebiped robot to complete rest at the end of ditch crossing. With the proposed approach real-timesolutions are found for various initial postures of the biped robot at di�erent friction coe�cientsto give the feasible regions for crossing a wide ditch with landing uncertainties. A study on theinuence of initial posture on landing impact and net energy consumption is presented. Throughsimulations, the best initial postures to e�ciently cross a wide ditch of width 1.05 m, with lessimpact and without singularities are found. Finally, the advantage of the proposed approach tocross a wide ditch when the surface friction is not same on both sides of the ditch is demonstrated.Using the model with control constraints an approach is proposed for �nding optimal solutionsfor wide ditch crossing with GA multiobjective optimization. With the proposed approach optimalsolutions with GA can be obtained without any additional constraints. Finally optimal initialpostures for the biped robot to cross a wide ditch are given along with the peak torque, peakrotational speed and the peak power rating of the actuators required at various joints of the bipedrobot." @default.
• W2804097105 created "2018-06-01" @default.
• W2804097105 creator A5044837841 @default.
• W2804097105 creator A5076972597 @default.
• W2804097105 date "2018-01-01" @default.
• W2804097105 modified "2023-09-26" @default.
• W2804097105 title "Generating Trajectories for Wide Ditch Crossingof Biped Robots" @default.
• W2804097105 hasPublicationYear "2018" @default.
• W2804097105 type Work @default.
• W2804097105 sameAs 2804097105 @default.
• W2804097105 citedByCount "0" @default.
• W2804097105 crossrefType "dissertation" @default.
• W2804097105 hasAuthorship W2804097105A5044837841 @default.
• W2804097105 hasAuthorship W2804097105A5076972597 @default.
• W2804097105 hasConcept C121332964 @default.
• W2804097105 hasConcept C127413603 @default.
• W2804097105 hasConcept C1276947 @default.
• W2804097105 hasConcept C13662910 @default.
• W2804097105 hasConcept C154945302 @default.
• W2804097105 hasConcept C18762648 @default.
• W2804097105 hasConcept C18903297 @default.
• W2804097105 hasConcept C2775924081 @default.
• W2804097105 hasConcept C2778572946 @default.
• W2804097105 hasConcept C41008148 @default.
• W2804097105 hasConcept C44154836 @default.
• W2804097105 hasConcept C47446073 @default.
• W2804097105 hasConcept C78519656 @default.
• W2804097105 hasConcept C86803240 @default.
• W2804097105 hasConcept C90509273 @default.
• W2804097105 hasConceptScore W2804097105C121332964 @default.
• W2804097105 hasConceptScore W2804097105C127413603 @default.
• W2804097105 hasConceptScore W2804097105C1276947 @default.
• W2804097105 hasConceptScore W2804097105C13662910 @default.
• W2804097105 hasConceptScore W2804097105C154945302 @default.
• W2804097105 hasConceptScore W2804097105C18762648 @default.
• W2804097105 hasConceptScore W2804097105C18903297 @default.
• W2804097105 hasConceptScore W2804097105C2775924081 @default.
• W2804097105 hasConceptScore W2804097105C2778572946 @default.
• W2804097105 hasConceptScore W2804097105C41008148 @default.
• W2804097105 hasConceptScore W2804097105C44154836 @default.
• W2804097105 hasConceptScore W2804097105C47446073 @default.
• W2804097105 hasConceptScore W2804097105C78519656 @default.
• W2804097105 hasConceptScore W2804097105C86803240 @default.
• W2804097105 hasConceptScore W2804097105C90509273 @default.
• W2804097105 hasLocation W28040971051 @default.
• W2804097105 hasOpenAccess W2804097105 @default.
• W2804097105 hasPrimaryLocation W28040971051 @default.
• W2804097105 hasRelatedWork W1517235417 @default.
• W2804097105 hasRelatedWork W1564954648 @default.
• W2804097105 hasRelatedWork W1969004019 @default.
• W2804097105 hasRelatedWork W1971024106 @default.
• W2804097105 hasRelatedWork W2072554927 @default.
• W2804097105 hasRelatedWork W2084022453 @default.
• W2804097105 hasRelatedWork W2128967453 @default.
• W2804097105 hasRelatedWork W2221752174 @default.
• W2804097105 hasRelatedWork W2415378905 @default.
• W2804097105 hasRelatedWork W2415746244 @default.
• W2804097105 hasRelatedWork W2559388073 @default.
• W2804097105 hasRelatedWork W2606516560 @default.
• W2804097105 hasRelatedWork W2612476481 @default.
• W2804097105 hasRelatedWork W2921328390 @default.
• W2804097105 hasRelatedWork W2947934313 @default.
• W2804097105 hasRelatedWork W2953430606 @default.
• W2804097105 hasRelatedWork W2968792546 @default.
• W2804097105 hasRelatedWork W2973446815 @default.
• W2804097105 hasRelatedWork W3110143542 @default.
• W2804097105 hasRelatedWork W2183900013 @default.
• W2804097105 isParatext "false" @default.
• W2804097105 isRetracted "false" @default.
• W2804097105 magId "2804097105" @default.
• W2804097105 workType "dissertation" @default.