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Master's Dissertation
Full name
Ivan Fischman Ekman Simões
Knowledge Area
Date of Defense
São Paulo, 2020
Cordero, Arturo Forner (President)
Angelico, Bruno Augusto
Leonessa, Alexander
Title in English
Biped gait controller with active perturbation recovery.
Keywords in English
Bipedal robots
Capture point
Fall recovery
Gait controller
Legged robots
N-Step capturability
Abstract in English
The goals of this work are to develop a biped gait controller and an active fall recovery algorithm, both based on the capture point stability theory with the criterion of N-step capturability, validate this algorithms via simulations; and to design a biped robot that represents gait on the sagittal plane, capable of serving as a test-bed for legged locomotion research. The effectiveness of the controller and fall recovery are assessed through simulations, with the designed robot, that imposes different types of perturbations, such as: pushes, ramps and irregular terrain. The controller ability to modulate the robot's velocity is also demonstrated. The fall recovery algorithm is addressed as a solution to increase robustness without significant detriment to energy efficiency. The controller was proved successful in the simulations, it only demonstrated speed limitation on descending slopes. The fall recovery manages to significantly increase robustness of a standard, energy efficient gait.
Title in Portuguese
Algoritmo de controle de marcha bípede com recuperação de perturbação ativa.
Keywords in Portuguese
Controle (Teoria de sistemas e controle)
Sistemas dinâmicos
Abstract in Portuguese
Os objetivos deste trabalho são desenvolver um controlador de marcha bípede e um algoritmo de recuperação de perturbações, ambos baseados na teorias de estabilidade capture point com o critério N-step capturability, validar os algoritmos através de simulações; e projetar um robô bípede que represente a marcha no plano sagital, capaz de servir como plataforma de testes para a pesquisa em locomoção com pernas. A eficácia do controlador e o desempenho do algoritmo de prevenção de quedas são avaliados por simulações com o robô projetado, que impõe diferentes tipos de perturbações, como: empurrões, rampas e terrenos irregulares. A capacidade do controlador de modular a velocidade do robô também é demonstrada. O algoritmo de recuperação de quedas é abordado como uma solução para aumentar a robustez sem detrimento significativo a eficiência energética. O controlador obteve sucesso nas simulações, demonstrando limitações (de velocidade) somente em terrenos descendentes. O algoritmo prevenção de quedas conseguiu aumentar significativamente a robustez de uma marcha padrão com boa eficiência energética.
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