Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/48655
Title: Standing Posture Modeling and Control for a Humanoid Robot
Authors: SYEDA MARIAM AHMED
Keywords: humanoid robot, push recovery, nonlinear control, acrobot model, parameter estimation
Issue Date: 21-Aug-2013
Citation: SYEDA MARIAM AHMED (2013-08-21). Standing Posture Modeling and Control for a Humanoid Robot. ScholarBank@NUS Repository.
Abstract: The work presented in this thesis focuses on modeling and designing a control strategy to balance a humanoid robot under a push, while standing.A control synergy of linear and non-linear control has been adopted, to stabilize a humanoid robot after it is pushed. The methodology has been tested in Webots simulator and subsequently on the robot ASLAN, resulting in successful stabilization of robots in both environments. The advantage of employing the suggested method has been demonstrated with experiments. The intention is an attempt to mimic the human tiptoe behavior which leads to the introduction of an under-actuated degree of freedom around the toe.
URI: http://scholarbank.nus.edu.sg/handle/10635/48655
Appears in Collections:Master's Theses (Open)

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