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Bipedal walking trajectory energy minimization through a learned hip height trajectory
Please use this identifier to cite or link to this item:
http://hdl.handle.net/1860/3900
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| Title: | Bipedal walking trajectory energy minimization through a learned hip height trajectory |
| Authors: | Mason, Sean |
| Keywords: | Mechanical engineering
Bipedal walking trajectory
Hip height trajectory |
| Issue Date: | Jun-2012 |
| Abstract: | This thesis describes methods used to optimize energy consumption of an offine bipedal walking trajectories through hip height control. The experiments were carried out on a miniature humanoid robot within the simulation environment Webots. Zero Moment Point (ZMP) preview control methods were implemented in Matlab to produce a stable walking trajectory for the robot with a fixed hip height. The hip height trajectory was then developed using an observation based Q-learning method that consider both stability and energy consumption. Through the Q-learning methods there was approximately a 9% decrease in the average energy consumption. Additionally, an increase in stability was observed. |
| Description: | Thesis (M.S., Mechanical engineering)--Drexel University, 2012. |
| URI: | http://hdl.handle.net/1860/3900 |
| Appears in Collections: | Drexel Theses and Dissertations
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