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dc.contributor.advisorFaddis, Terry
dc.contributor.authorRooney, Craig
dc.date.accessioned2012-10-27T10:19:36Z
dc.date.available2012-10-27T10:19:36Z
dc.date.issued2012-08-31
dc.date.submitted2012
dc.identifier.otherhttp://dissertations.umi.com/ku:12383
dc.identifier.urihttp://hdl.handle.net/1808/10204
dc.description.abstractBipedal 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.
dc.format.extent66 pages
dc.language.isoen
dc.publisherUniversity of Kansas
dc.rightsThis item is protected by copyright and unless otherwise specified the copyright of this thesis/dissertation is held by the author.
dc.subjectMechanical engineering
dc.subjectRobotics
dc.subjectBiped
dc.subjectGait
dc.subjectRobot
dc.titleDevelopment of an Independent Hip Drive for a 2D Biped Walking Machine
dc.typeThesis
dc.contributor.cmtememberDepcik, Christopher
dc.contributor.cmtememberUmholtz, Robert C.
dc.thesis.degreeDisciplineMechanical Engineering
dc.thesis.degreeLevelM.S.
kusw.oastatusna
kusw.oapolicyThis item does not meet KU Open Access policy criteria.
dc.rights.accessrightsopenAccess


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