Human standing posture depends on sensory inputs from vision, from touch and from the vestibular system. Humans use these inputs to determine position in the environment and to compensate for external forces resulting in constant swaying. This thesis investigated the creation of a four-degree-of-freedom robotic model of human upright stance using only hip actuation. In this model, the ankles are free so that there is no reaction torque from the ground and balance is provided by torques at the hip joint, resulting in an underactuated system. The mathematical model of the system was first derived using the Euler-Lagrange formulation. Using this model, simulations on the system were performed with different inputs to control the actuators. The robot was then designed and built. This was followed by tests done on the robot to examine its utility as a robotic model of human stance. From these tests, a new design with possible improvements was then proposed.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.98941 |
| Date | January 2005 |
| Creators | Ayoub, Omar. |
| Publisher | McGill University |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Format | application/pdf |
| Coverage | Master of Engineering (Department of Electrical and Computer Engineering.) |
| Rights | © Omar Ayoub, 2005 |
| Relation | alephsysno: 002492868, proquestno: AAIMR24938, Theses scanned by UMI/ProQuest. |
Page generated in 0.0019 seconds