### Producing Periodic Motion for Underactuated Systems

(2001) In MSc ThesesDepartment 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:
http://lup.lub.lu.se/student-papers/record/8848258

- author
- Chatila, Wael
- supervisor
- organization
- year
- 2001
- 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}, }