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    Development of an Independent Hip Drive for a 2D Biped Walking Machine

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    Rooney_ku_0099M_12383_DATA_1.pdf (1.408Mb)
    Issue Date
    2012-08-31
    Author
    Rooney, Craig
    Publisher
    University of Kansas
    Format
    66 pages
    Type
    Thesis
    Degree Level
    M.S.
    Discipline
    Mechanical Engineering
    Rights
    This item is protected by copyright and unless otherwise specified the copyright of this thesis/dissertation is held by the author.
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    Abstract
    Bipedal robots have advantages over wheeled or multi-legged robots because they require fewer footholds for locomotion and can traverse a larger percentage of Earth's terrain including discontinuous or rough terrain. The Intelligent Systems and Automation Laboratory (ISAL) at the University of Kansas has developed a two dimensional (2D) biped walker, nicknamed the Jaywalker, in order to study the requirements necessary for a bipedal robot to traverse uneven terrain and successfully regain stability after encountering perturbations. In order to maintain stability over rough terrain, the robot must be capable of controlling each leg independently ensuring foot placement on stable footholds. Foot placement is, therefore, critical for stability since a misstep can cause the robot to slip or distribute its weight unevenly on the foothold causing it to become unstable and fall over. An independent drive system was incorporated into the robot's hip that directly couples the hip motors to the legs, eliminates flexible connections in the power transmission system that can add unnecessary errors, and increases the leg rotation resolution, which all increase the robot's foot placement accuracy. Testing was performed to prove the independent hip drive design can operate within human gait parameters, has the same or better range of motion as a human, and is capable of taking a stable step.
    URI
    http://hdl.handle.net/1808/10204
    Collections
    • Engineering Dissertations and Theses [1055]
    • Theses [3827]

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    KU Libraries
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    785-864-8983

    KU Libraries
    1425 Jayhawk Blvd
    Lawrence, KS 66045
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    Contact KU ScholarWorks
    785-864-8983
    KU Libraries
    1425 Jayhawk Blvd
    Lawrence, KS 66045
    785-864-8983

    KU Libraries
    1425 Jayhawk Blvd
    Lawrence, KS 66045
    Image Credits
     

     

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