Impact Dynamics for Humanoid Robot (Record no. 612423)
[ view plain ]
| 000 -LEADER | |
|---|---|
| fixed length control field | 02485nam a22001577a 4500 |
| 082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER | |
| Classification number | 629.8 |
| 100 ## - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Jameel, Saad |
| 245 ## - TITLE STATEMENT | |
| Title | Impact Dynamics for Humanoid Robot |
| Statement of responsibility, etc. | Saad Jameel |
| 264 ## - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE | |
| Place of production, publication, distribution, manufacture | Islamabad : |
| Name of producer, publisher, distributor, manufacturer | SMME- NUST; |
| Date of production, publication, distribution, manufacture, or copyright notice | 2024. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 111p. |
| Other physical details | Islamabad : SMME- NUST; Soft Copy |
| Dimensions | 30cm |
| 500 ## - GENERAL NOTE | |
| General note | Research on biped robots focuses on replicating human behavior such as walking, jumping, and kicking. The kicking motion, in particular, poses significant challenges due to<br/>the need for precise balance and coordination of joint movements and the optimization<br/>of joint variables critical for effective kicking. Existing kicking techniques generally<br/>rely on kinematic models and predictive model assumptions without incorporating the<br/>full dynamics of the robot. Most models use keyframe-based and Inverse Kinematics<br/>(IK)-based techniques for joint trajectories and apply feedback control methods such<br/>as Dynamic Movement Primitives (DMP), Zero Moment Point (ZMP) control, and<br/>reinforcement learning-based control for stability and walking motion. These methods<br/>can produce a kicking motion but do not account for the kicking dynamics. Moreover, these techniques are limited to fully actuated robots. This thesis introduces a<br/>dynamically inspired, underactuated biped robot operating in a sagittal plane capable<br/>of walking and kicking. The model’s dynamics are derived using the Euler-Lagrange<br/>method and controlled through a Hybrid Zero Dynamics (HZD)-based Input-Output<br/>Linearization (IOL) strategy to achieve precise trajectory tracking. These trajectories<br/>are parameterized by the underactuated joint and optimized via Sequential Quadratic<br/>Programming (SQP), ensuring that torque remains within permissible limits. This<br/>approach incorporates impact dynamics to maintain stability during the walking and<br/>kicking phases. The model’s effectiveness is validated using the NAO robot platform in<br/>a 3D physics simulator. Our results demonstrate that the robot executes kicks faster,<br/>with an average kicking time of 0.75 seconds, and achieves long-range kicks, with an<br/>average kicking distance of approximately 6.1 meters. These capabilities surpass the<br/>performance of the current state-of-the-art Q-learning-based kicking engines. |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | MS Robotics and Intelligent Machine Engineering |
| 700 ## - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Supervisor: Dr. Khawaja Fahad Iqbal |
| 856 ## - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | <a href="http://10.250.8.41:8080/xmlui/handle/123456789/48106">http://10.250.8.41:8080/xmlui/handle/123456789/48106</a> |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | |
| Koha item type | Thesis |
| Withdrawn status | Permanent Location | Current Location | Shelving location | Date acquired | Full call number | Barcode | Koha item type |
|---|---|---|---|---|---|---|---|
| School of Mechanical & Manufacturing Engineering (SMME) | School of Mechanical & Manufacturing Engineering (SMME) | E-Books | 12/24/2024 | 629.8 | SMME-TH-1101 | Thesis |