| The purpose of this thesis is to contribute to the development of dynamic modeling and control of bipedal locomotion. The locomotion aimed to be realized in this thesis is walking on a flat horizontal surface in the sagittal plane. Firstly, a planar five-link biped robot, which consists of an upper body and two legs, having five degrees of freedom is modeled. The equations of motion are then developed which describe the motion of the bipedal system. The walking motion includes the single support phase, the impact of the free end of the swing leg with the walking surface, and the support end exchange at the end of each step. Secondly, a systematic approach is presented to determine the joint angle profiles from a set of constraint functions for the biped to walk on a flat horizontal surface. Five new constraint functions are proposed in terms of the physical coherent parameters, one of which is to keep the total mechanical energy of the biped at constant. This constraint is meant to test the hypothesis that, given only potential energy at the beginning of the step, the swing leg can be carried over by gravity. (Abstract shortened by UMI.)... |
