Advanced

Producing Periodic Motion for Underactuated Systems

Chatila, Wael (2001) In MSc Theses
Department of Automatic Control
Abstract
This project considers a special class of aero-dynamics of two different underactuated systems. The two systems under consideration are the Pendubot (actuator at the hip) and the Acrobot (actuator at the knee). The main objectives are to show stability and periodicity of the two systems. The next step is to change the zero-dynamics such that resulting periodic orbits produce walking gait patterns. The stability analysis involves searching for a Lyapunov function which would prove stability and in turn, as can be shown, imply periodicty. The Lyapunov function would also be a powerful help in knowing how to change the zero-dynamics so that desired motions are obtained.
However, a Lyapunov function could not be found, which implies that the... (More)
This project considers a special class of aero-dynamics of two different underactuated systems. The two systems under consideration are the Pendubot (actuator at the hip) and the Acrobot (actuator at the knee). The main objectives are to show stability and periodicity of the two systems. The next step is to change the zero-dynamics such that resulting periodic orbits produce walking gait patterns. The stability analysis involves searching for a Lyapunov function which would prove stability and in turn, as can be shown, imply periodicty. The Lyapunov function would also be a powerful help in knowing how to change the zero-dynamics so that desired motions are obtained.
However, a Lyapunov function could not be found, which implies that the succeeding steps are hard to make.
We present in this work some conclusions that would follow from a Lyapunov function and highlight some properties of the systems. We also show how the Pendubot could be brought to upright position. (Less)
Please use this url to cite or link to this publication:
author
Chatila, Wael
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
publication/series
MSc Theses
report number
TFRT-5669
ISSN
0280-5316
language
English
id
8848258
date added to LUP
2016-03-20 11:20:37
date last changed
2016-03-20 11:20:37
@misc{8848258,
  abstract     = {This project considers a special class of aero-dynamics of two different underactuated systems. The two systems under consideration are the Pendubot (actuator at the hip) and the Acrobot (actuator at the knee). The main objectives are to show stability and periodicity of the two systems. The next step is to change the zero-dynamics such that resulting periodic orbits produce walking gait patterns. The stability analysis involves searching for a Lyapunov function which would prove stability and in turn, as can be shown, imply periodicty. The Lyapunov function would also be a powerful help in knowing how to change the zero-dynamics so that desired motions are obtained.
However, a Lyapunov function could not be found, which implies that the succeeding steps are hard to make.
We present in this work some conclusions that would follow from a Lyapunov function and highlight some properties of the systems. We also show how the Pendubot could be brought to upright position.},
  author       = {Chatila, Wael},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  series       = {MSc Theses},
  title        = {Producing Periodic Motion for Underactuated Systems},
  year         = {2001},
}