eprintid: 1796
rev_number: 13
eprint_status: archive
userid: 1
dir: disk0/00/00/17/96
datestamp: 2001-10-29 00:00:00
lastmod: 2014-04-03 11:21:55
status_changed: 2012-08-14 15:02:41
type: doctoralThesis
metadata_visibility: show
creators_name: Mombaur, Katja Daniela
title: Stability optimization of open-loop controlled walking robots
title_de: Optimierung der Stabilitaet von Laufrobotern ohne Feedback
ispublished: pub
subjects: ddc-510
divisions: i-708000
adv_faculty: af-11
keywords: Stability optimization , open-loop stable walking , passive-dynamic walking , periodic gait generation , multibody dynamics
cterms_swd: Stabilitaet
cterms_swd: Optimalsteuerung
cterms_swd: Robotik
cterms_swd: Dynamik
cterms_swd: Differentialgleichungen
abstract_translated_text:                       This thesis presents fundamentally new open-loop stable one-legged and two-legged walking robots. It thus demonstrates that the concept of open-loop  control is applicable to a much wider range of systems than was conceived  before. An open-loop stable control strategy does not use any feedback nor  does it take any active measures to respond to perturbations but entirely  relies on the mechanical system's natural kinematics and dynamics to stabilize  the trajectory. Its outstanding advantages are low cost an speed of control. The design of such open-loop stable walking robots and the choice of model  parameters leading to stable motions is a difficult task and has not been  much investigated before. In this thesis it has been accomplished by means  of optimization. A numerical method for the optimization of open-loop  stability of periodic systems has been developed. This is the first time  stability optimization is combined with the simultaneous solution of an  optimal control problem. The problem of periodic gait generation is addressed  as a subtask. Robots are modeled as multi-body systems involving  discontinuities. Besides open-loop controlled actuated robots also the special case of  passive-dynamic walkers is considered, that, in addition to lacking feedback  control, have no active sources of energy. The algorithm delivered excellent  results for all robot models studied and could be applied to more general  periodic dynamical systems. 
abstract_translated_lang: eng
class_scheme: msc
class_labels: 49-04
date: 2001
date_type: published
id_scheme: DOI
id_number: 10.11588/heidok.00001796
ppn_swb: 1643239295
own_urn: urn:nbn:de:bsz:16-opus-17960
date_accepted: 2001-08-31
advisor: HASH(0x561a62935550)
language: eng
bibsort: MOMBAURKATSTABILITYO2001
full_text_status: public
citation:   Mombaur, Katja Daniela  (2001) Stability optimization of open-loop controlled walking robots.  [Dissertation]     
document_url: https://archiv.ub.uni-heidelberg.de/volltextserver/1796/1/archiv.gz
document_url: https://archiv.ub.uni-heidelberg.de/volltextserver/1796/2/km_diss.pdf