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dc.contributor.author
Gehring, Christian
dc.date.accessioned
2017-08-17T07:00:12Z
dc.date.available
2017-06-10T15:17:48Z
dc.date.available
2017-08-17T07:00:12Z
dc.date.issued
2011
dc.identifier.uri
http://hdl.handle.net/20.500.11850/65055
dc.identifier.doi
10.3929/ethz-a-007632316
dc.description.abstract
Fast, ecient and versatile locomotion is the objective of the cutting-edge research of legged robots. Researchers are faced with two basic questions: First, what kind of motion is required to move the robot fast and ecient? Second, how has the robot to be controlled to achieve this motion? A well-known approach in the research area is to characterize the demanded motion by a so-called template, a simplied physical model that generates the same motion as observed in the locomotion of animals and humans. Whereby the anchor, a more complex model of the musculoskeletal system of the vertebrates, is performing the same basic motion as the template [1]. Biomechanic studies showed that dynamic locomotion, especially the simplest version of single legged hopping, is the Spring Loaded Inverted Pendulum model that describes the motion of the center of gravity of the whole body. The same motion can be enforced with the anchor by a control design based on the operational space formulation. The aim of this thesis is to design and implement a controller for the Series Compliant Articulated Robotic Leg of ETH to accomplish template-based hopping in simulation and experiments. A new framework is written within the software package SL [2] that facilitates the implementation and evaluation of the sophisticated controller. The implemented software architecture includes a low-level controller on an embedded system that allows position and torque control. The existing low-level framework is optimized and improved so that a fast communication between the control layers becomes possible. The controller successfully demonstrates template-based hopping in simulations, but fails in experiments. Parts of the controller are experimentally veried with success and the problem is identied as a hardware problem.
en_US
dc.language.iso
en
en_US
dc.publisher
Eidgenössische Technische Hochschule Zürich, Autonomous Systems Lab
en_US
dc.rights.uri
http://rightsstatements.org/page/InC-NC/1.0/
dc.subject
COMPUTER VISION + SCENE UNDERSTANDING (ARTIFICIAL INTELLIGENCE)
en_US
dc.subject
COMPUTERVISION (KÜNSTLICHE INTELLIGENZ)
en_US
dc.subject
PROGRAMS AND ALGORITHMS FOR THE SOLUTION OF SPECIAL PROBLEMS
en_US
dc.subject
ROBOTERNAVIGATION
en_US
dc.subject
MOBILE ROBOTS
en_US
dc.subject
PROGRAMME UND ALGORITHMEN ZUR LÖSUNG SPEZIELLER PROBLEME
en_US
dc.subject
ROBOT NAVIGATION
en_US
dc.subject
MOBILE ROBOTER
en_US
dc.title
Operational Space Control of Single Legged Hopping
en_US
dc.type
Master Thesis
dc.rights.license
In Copyright - Non-Commercial Use Permitted
dc.date.published
2013
ethz.size
89 p.
en_US
ethz.code.ddc
6 - Technology, medicine and applied sciences::621.3 - Electric engineering
en_US
ethz.code.ddc
0 - Computer science, information & general works::004 - Data processing, computer science
en_US
ethz.identifier.nebis
007632316
ethz.publication.place
Zürich
en_US
ethz.publication.status
published
en_US
ethz.leitzahl
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
en_US
ethz.leitzahl.certified
ETH Zürich::00002 - ETH Zürich::00012 - Lehre und Forschung::00007 - Departemente::02130 - Dep. Maschinenbau und Verfahrenstechnik / Dep. of Mechanical and Process Eng.::02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems::03737 - Siegwart, Roland Y. / Siegwart, Roland Y.
ethz.date.deposited
2017-06-10T15:19:15Z
ethz.source
ECOL
ethz.source
ECIT
ethz.identifier.importid
imp59366b393137f41373
ethz.identifier.importid
imp59365074cc20a74421
ethz.ecolpid
eth:6674
ethz.ecitpid
pub:103506
ethz.eth
yes
en_US
ethz.availability
Open access
en_US
ethz.rosetta.installDate
2017-07-15T22:38:48Z
ethz.rosetta.lastUpdated
2018-11-05T16:49:03Z
ethz.rosetta.versionExported
true
ethz.COinS
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