ATTENTION: The software behind KU ScholarWorks is being upgraded to a new version. Starting July 15th, users will not be able to log in to the system, add items, nor make any changes until the new version is in place at the end of July. Searching for articles and opening files will continue to work while the system is being updated. If you have any questions, please contact Marianne Reed at mreed@ku.edu .

Show simple item record

dc.contributor.advisorFaddis, Terry
dc.contributor.authorRuiz, Marc
dc.date.accessioned2011-10-09T13:49:50Z
dc.date.available2011-10-09T13:49:50Z
dc.date.issued2011-05-31
dc.date.submitted2011
dc.identifier.otherhttp://dissertations.umi.com/ku:11630
dc.identifier.urihttp://hdl.handle.net/1808/8182
dc.description.abstractBiped robots are desired as the ideal solution over wheel vehicles when traversing over rough terrain due to the simplicity and efficiency when mimicking the natural and dynamic motion of a human gait. The Intelligent Systems and Automation Laboratory (ISAL) at the University of Kansas designed and built a three legged 2D biped walking robot to establish a testbed for future testing. This paper focuses on the development and testing of a novel hip joint that allows actuation with the ability to remain passive. This study was completed concurrently with the development of a full robot as part of other projects. The biped robot, known as the Jaywalker, is comprised of two main actuation systems: the Hybrid Parallel Ankle Actuator (HPAA) and the Hip Ratchet System (HRS). This study focused on the design and testing of the HRS which achieves hip actuation through the use of a locking mechanism integrated into each hip joint that couples the legs to a shared drive system. The ability to lock and unlock the hip joint through the HRS enables the Jaywalker to function in passive or actuated states at the hips. Testing of the HRS was conducted in both passive and actuated states on the Jaywalker testbed. Testing of the hip provided proof in the concept of using a single drive in combination with a ratchet mechanism to actuate the hip while providing a passive option. The HRS also provided the capability to vary step lengths future testing that requires turning, rough terrain, and stair climbing.
dc.format.extent79 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.subjectMechanics
dc.subjectRobotics
dc.subjectBiped
dc.subjectHip
dc.subjectHrs
dc.subjectPassive
dc.subjectRatchet
dc.subjectRobot
dc.titleACTIVE HIP ACTUATION FOR WALKING BIPED WITH PASSIVE OPTION
dc.typeThesis
dc.contributor.cmtememberLuchies, Carl W.
dc.contributor.cmtememberUmholtz, Robert C.
dc.thesis.degreeDisciplineMechanical Engineering
dc.thesis.degreeLevelM.E.
kusw.oastatusna
kusw.oapolicyThis item does not meet KU Open Access policy criteria.
kusw.bibid7642881
dc.rights.accessrightsopenAccess


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record