Design & validation of a passive dynamic walker with knees

Stathis, Angelos; Στάθης, Άγγελος

dc.contributor.author	Stathis, Angelos	en
dc.contributor.author	Στάθης, Άγγελος	el
dc.date.accessioned	2024-04-15T11:44:38Z
dc.date.available	2024-04-15T11:44:38Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/59196
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.26892
dc.description	Εθνικό Μετσόβιο Πολυτεχνείο--Μεταπτυχιακή Εργασία. Διεπιστημονικό-Διατμηματικό Πρόγραμμα Μεταπτυχιακών Σπουδών (Δ.Π.Μ.Σ.) “Συστήματα Αυτοματισμού”	el
dc.rights	Αναφορά Δημιουργού - Μη Εμπορική Χρήση - Παρόμοια Διανομή 3.0 Ελλάδα	*
dc.rights.uri	http://creativecommons.org/licenses/by-nc-sa/3.0/gr/	*
dc.subject	Παθητική Βάδιση	el
dc.subject	Ρομπότ με Γόνατα	el
dc.subject	Δυναμικά Συστήματα	el
dc.subject	Passive Walking	en
dc.subject	Dynamical Systems	en
dc.subject	Robot with Knees	en
dc.title	Design & validation of a passive dynamic walker with knees	en
heal.type	masterThesis
heal.secondaryTitle	Σχεδιασμός & Επαλήθευση Παθητικού Δυναμικού Ρομπότ με Γόνατα	el
heal.classification	Passive Dynamic Walking	en
heal.language	en
heal.access	free
heal.recordProvider	ntua	el
heal.publicationDate	2023-09-20
heal.abstract	The evolution of robotics of the past decade has greatly been interlaced with the advancement of locomotion means of autonomous robots. Legged systems have come to the spotlight, having the ability to traverse complex environments where the now trivial wheeled vehicles are not able to. The ever expanding need to explore larger areas or carry heavier loads translates to power necessities. Inspired by human gait, biped robots have been investigated for their ability to walk downwards on an inclined plane, having the energy required supplied by the force of gravity alone. This characteristic is known as passive dynamic walking. There have been a series of publications with regard to such walkers, each one focused on a different aspect of the matter. From the simple rimless wheel model to a human scale robot with knee joints, researchers have been able to prove the walking properties. More focused papers, such as taking into consideration the shape of the foot making contact, prove a plethora of curves can be utilized. Previous work at the Control Systems Laboratory of the School of Mechanical Engineering of the National Technical University of Athens has successfully brought into existence a passive dynamic walker with hip joints. Such a robot is able to walk with the assumption that the non-standing leg is not scuffing the ground, which in practice is achieved using arranged platforms to act as step regions. The team’s next objective, implementing knees to such a system, has already been formulated mathematically and successful simulations have taken place. In this work, the effort to design a robot satisfying the passive dynamic walking criteria and having knees is presented. The aim is to create an unactuated system, that when traversing downhill with specified initial conditions, it will repeat a steady gait cycle that is robust to small perturbations, generated by the environment or small human-introduced errors. A detailed presentation of the involved mathematical model is included for in-depth comprehension. The dynamics of the system are examined on a two-dimensional plane. To realize this simplification, the robot as its predecessor consists of three distinct legs, with the outer two being firmly connected to act as a single unit. This prerequisite is essential for the passive aspect of the system. Detailed design work manages to synchronize the outer shanks while maintaining the robot compact, light and protecting its important components in the occasion of a fall. In summary, the objective of this study is to design and validate a passive dynamic walker equipped with knees, engineered to navigate an extensive range of inclines and exhibit resilience.	en
heal.advisorName	Papadopoulos, Evangelos	en
heal.committeeMemberName	Kyriakopoulos, Konstantinos	en
heal.committeeMemberName	Antoniadis, Ioannis	en
heal.academicPublisher	Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών	el
heal.academicPublisherID	ntua
heal.numberOfPages	146 σ.	el
heal.fullTextAvailability	false