On Exploration of Mechanical Insights into Bipedal Walking: Gait Characteristics, Energy Efficiency, and Experimentation

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dc.contributor.supervisor Wu, Christine Q. (Mechanical Engineering) en_US
dc.contributor.author Alghooneh, Mansoor
dc.date.accessioned 2015-04-28T15:13:34Z
dc.date.available 2015-04-28T15:13:34Z
dc.date.issued 2012 en_US
dc.date.issued 2014 en_US
dc.identifier.citation Mansoor Alghooneh and Christine Wu, "Single-support heel-off, a crucial gait event helps achieving energy efficient and agile bipedal walking", Robotica, vol. in press, 2014. en_US
dc.identifier.citation M. Alghooneh and C. Wu, "A systematic gait-planning framework negotiating biomechanically motivated characteristics of a planar bipedal robot," International Journal of Humanoid Robotics, vol. 9, no. 4, 2012. en_US
dc.identifier.uri http://hdl.handle.net/1993/30414
dc.description.abstract Human walking is dynamic, stable, and energy efficient. To achieve such remarkable legged locomotion in robots, engineers have explored bipedal robots developed based on two paradigms: trajectory-controlled and passive-based walking. Trajectory-controlled bipeds often deliver energy-inefficient gaits. The reason is that these bipeds are controlled via high-impedance geared electrical motors to accurately follow predesigned trajectories. Such trajectories are designed to keep a biped locally balanced continually while walking. On the other hand, passive-based bipeds provide energy-efficient gaits. The reason is that these bipeds adapt to their natural dynamics. Such gaits are stable limit-cycles through entire walking motion, and do not require being locally balanced at every instant during walking. However, passive-based bipeds are often of round/point foot bipeds that are not capable of achieving and experiencing standing, stopping, and some important bipedal gait phases and events, such as the double support phase. Therefore, the goals of this thesis are established such that the aforementioned limitations on trajectory-controlled and passive-based bipeds are resolved. Toward the above goal, comprehensive simulation and experimental explorations into bipedal walking have been carried out. Firstly, a novel systematic trajectory-controlled gait-planning framework has been developed to provide mechanical insights into bipedal walking in terms of gait characteristics and energy efficiency. For the same purpose, a novel mathematical model of passive-based bipedal walking with compliant hip-actuation and compliant-ankle flat-foot has been developed. Finally, based on mechanical insights that have been achieved by the aforementioned passive-based model, a physical prototype of a passive-based bipedal robot has been designed and fabricated. The prototype experimentally validates the importance of compliant hip-actuation in achieving a highly dynamic and energy efficient gait. en_US
dc.publisher World Scientific en_US
dc.publisher Cambridge Journals en_US
dc.subject Bipedal robots en_US
dc.subject Energy efficiency en_US
dc.subject Gait characteristics en_US
dc.subject bipedal walking en_US
dc.subject Experimentation en_US
dc.title On Exploration of Mechanical Insights into Bipedal Walking: Gait Characteristics, Energy Efficiency, and Experimentation en_US
dc.degree.discipline Mechanical Engineering en_US
dc.contributor.examiningcommittee Balakrishnan, Subramaniam (Mechanical Engineering) Anderson, John (Computer Science) Park, Edward (Mechatronic Systems Engineering, Simon Fraser University) en_US
dc.degree.level Doctor of Philosophy (Ph.D.) en_US
dc.description.note October 2015 en_US

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