Human stance in quiet mode, relies on feedback from eyes, skin, muscles and the inner ear and the control produced is a combination of strategies which enable a person to stay standing. This thesis presents the simulation and control of a hip actuated robotic model of human standing posture. / The first part of the thesis is devoted to recalling basic elements of the human balance system and to describe the balance strategies it uses to maintain an upright stance. Of the strategies presented, we consider the hip strategy which motivated the formulation of a hip actuated robot. An investigation into the control of nonlinear underactuated robots by linear controllers is done to verify the range and efficiency of the controlled system. / The second part of the thesis includes the investigation of two simplified models of the robot. Results using linear state feedback control are presented. The two models used are compared to clarify the use of one over the other. / We found that for linear controls, the size of the region of convergence decreased underactuated systems of increasing complexity. For our four degrees of freedom robot, the region of convergence is of 2.3 degrees for the actuated joints and of 1 degree for the unactuated joints. Our system is Lyapunov stable when the fully simplified model is assumed.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.99794 |
| Date | January 2007 |
| Creators | Sood, Gaurav. |
| 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 | © Gaurav Sood, 2007 |
| Relation | alephsysno: 002593869, proquestno: AAIMR32622, Theses scanned by UMI/ProQuest. |
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