Drexel University Home Pagewww.drexel.edu DREXEL UNIVERSITY LIBRARIES HOMEPAGE >>
iDEA DREXEL ARCHIVES >>

iDEA: Drexel E-repository and Archives > Drexel Theses and Dissertations > Drexel Theses and Dissertations > 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

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

Files in This Item:

File Description SizeFormat
Mason_Sean.pdf2.05 MBAdobe PDFView/Open
View Statistics

Items in iDEA are protected by copyright, with all rights reserved, unless otherwise indicated.

 

Valid XHTML 1.0! iDEA Software Copyright © 2002-2010  Duraspace - Feedback