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Please use this identifier to cite or link to this item: http://hdl.handle.net/1860/3900

Title: Bipedal walking trajectory energy minimization through a learned hip height trajectory
Authors: Mason, Sean
Keywords: Mechanical engineering;Bipedal walking trajectory;Hip height trajectory
Issue Date: Jun-2012
Abstract: This thesis describes methods used to optimize energy consumption of an offine bipedal walking trajectories through hip height control. The experiments were carried out on a miniature humanoid robot within the simulation environment Webots. Zero Moment Point (ZMP) preview control methods were implemented in Matlab to produce a stable walking trajectory for the robot with a fixed hip height. The hip height trajectory was then developed using an observation based Q-learning method that consider both stability and energy consumption. Through the Q-learning methods there was approximately a 9% decrease in the average energy consumption. Additionally, an increase in stability was observed.
Description: Thesis (M.S., Mechanical engineering)--Drexel University, 2012.
URI: http://hdl.handle.net/1860/3900
Appears in Collections:Drexel Theses and Dissertations

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