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Concise Modeling of Humanoid Dynamics
Halmstad University, School of Information Technology.
2017 (English)Independent thesis Advanced level (degree of Master (Two Years)), 80 credits / 120 HE creditsStudent thesisAlternative title
Kortfattad Modellering av Humanoiddynamik (Swedish)
Abstract [en]

Simulation of mechanical systems like walking robots, is an essential part in developingnew and more applicable solutions in robotics. The increasing complexity of methodsand technologies is a key challenge for common languages. That problem creates a needfor flexible and scalable languages. The thesis concludes that an equation-based toolusing the Euler-Lagrange can simplify the process cycle of modeling and simulation. Itcan minimize the development effort, if the tool supports derivatives. Regretfully, it isnot common to use equation-based tools with this ability for simulation of humanoidrobots.The research in this thesis illustrates the comparison of equation-based tools to commonused tools. The implementation uses the Euler-Lagrange method to model andsimulate nonlinear mechanical systems. The focus of this work is the comparison ofdifferent tools, respectively the development of a humanoid robot in a stepwise mannerbased on the principle of passive walking. Additionally, each developed model has givenan informal argument to its stability. To prove the correctness of the thesis statementthe equation-based tool called Acumen is evaluated in contrast to a common used tool,MATLAB.Based on the achieved results, it can be concluded that the use of equation-based toolsusing Euler-Lagrange formalism is convenient and scalable for humanoid robots. Additionally,the development process is significantly simplified by the advantages of suchtools. Due to the experimental nature of Acumen further research could investigatethe possibilities for different mechanical systems as well as other techniques.

Place, publisher, year, edition, pages
2017. , p. 72
Keyword [en]
Passive walking, Humanoid robot, Acumen, Equation-based tool, Euler-Lagrange
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-35094OAI: oai:DiVA.org:hh-35094DiVA, id: diva2:1145902
External cooperation
University of Applied Sciences Salzburg
Subject / course
Information Technology
Educational program
Master's Programme in Embedded and Intelligent Systems, 120 credits
Presentation
2017-05-23, 425, Kristian IV 3, 301 18 Halmstad, Halmstad, 14:29 (English)
Supervisors
Examiners
Available from: 2017-12-04 Created: 2017-09-30 Last updated: 2017-12-04Bibliographically approved

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fulltext(1817 kB)90 downloads
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Type fulltextMimetype application/pdf

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf