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dc.contributor.advisor Oldak, Salomon en
dc.contributor.author McClain, A Micah en
dc.date.accessioned 2020-06-29T22:33:03Z en
dc.date.available 2020-06-29T22:33:03Z en
dc.date.issued 2020-06-29 en
dc.identifier.uri http://hdl.handle.net/10211.3/216859 en
dc.description.abstract Bipedal balancing is a complex subject as the process of balancing is difficult to define. As robot designs are becoming increasingly humanoid and human-robot interactions increasingly common, algorithms must be developed to replicate natural movement in non-ideal circumstances. This project implements such an algorithm on a robotic leg to attempt to balance on uneven surfaces and terrain. A pseudoinverse Jacobian was implemented to handle positional movement, and a linear quadratic regulator was used to shape smooth motion to desired balance points. They were then developed into an Arduino code which controls the motion of the robot in attempts at balance. Due to the limited stall torque of the chosen servos the robot could not achieve balance in practice. And although the position and control codes work well with the chosen microcontroller, the balance equations could be more versatile and accurate, so future work should focus on these aspects of the robot design process en
dc.format.extent 14 pgs. en
dc.language.iso en en
dc.publisher California State Polytechnic University, Pomona en
dc.publisher California State Polytechnic University, Pomona en
dc.rights.uri http://www.cpp.edu/~broncoscholar/rightsreserved.html en
dc.rights.uri http://www.cpp.edu/~broncoscholar/rightsreserved.html en
dc.subject robotics en
dc.subject control systems en
dc.subject electronics en
dc.subject mechatronics en
dc.subject kinematics en
dc.subject algorithms en
dc.subject arduino en
dc.title Balance of a Robotic Leg on Uneven Terrain en
dc.type Graduate Project en
dc.contributor.department Department of Electrical and Computer Engineering en
dc.description.degree M.S. en
dc.contributor.committeeMember Kang, James en
dc.contributor.committeeMember Ketseoglou, Thomas en
dc.rights.license All rights reserved en
dc.rights.license All rights reserved en


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