A Study on Automatic Gait Parameter Tuning for Biped Walking Robots

.................................................................................................................... iv ÖZET ............................................................................................................................... vi ACKNOWLEDGMENTS ............................................................................................... ix TABLE OF CONTENTS.................................................................................................. x LIST OF TABLES..........................................................................................................xii LIST OF FIGURES .......................................................................................................xiii LIST OF SYMBOLS...................................................................................................... xv LIST OF ABBREVIATIONS......................................................................................xviii 1.INTRODUCTION ......................................................................................................... 1 2.A SURVEY ON BIPED GAIT ADAPTATION TECHNIQUES................................. 3 2.1. History of Biped Robotics ..................................................................................... 3 2.2. Literature Survey on Biped Gait Adaptation Techniques...................................... 5 3.THE BIPED MODEL EMPLOYED AS THE SIMULATION TEST BED................. 8 4.VIRTUAL SPRINGS FOR TUNING WALKING PARAMETERS.......................... 23 5.THE BIPED GAIT PARAMETER TUNING SYSTEMS.......................................... 27 5.1. A Simple Adaptation Scheme for Tuning............................................................ 27 5.2. Adaptive Fuzzy Systems in Tuning the Biped Gait Parameter............................ 27 5.2.1. Tuning with One Membership Function....................................................... 30 5.2.2. Tuning with More Than One Membership Functions .................................. 31 6.SIMULATION RESULTS .......................................................................................... 33 6.1. Virtual Torsional Springs..................................................................................... 33 6.2. Parameter Adaptation Scheme............................................................................. 33 6.3. Adaptive Fuzzy Scheme with One Membership Function .................................. 36 6.4. Adaptive Fuzzy Scheme with More Than One Membership Functions.............. 41 6.5. Discussion of the Simulation Results .................................................................. 44 7.CONCLUSIONS ......................................................................................................... 45 xi 8.APPENDICES ............................................................................................................. 46 Appendix A................................................................................................................. 46 Appendix B ................................................................................................................. 53 Appendix C ................................................................................................................. 55 Appendix D................................................................................................................. 56 Appendix E ................................................................................................................. 56 REFERENCES ............................................................................................................... 57