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Humanoid Robot Motion Control For Ramps And Stairs, Tommy Truong
Humanoid Robot Motion Control For Ramps And Stairs, Tommy Truong
USF Tampa Graduate Theses and Dissertations
Humanoid robot research and development have been an ongoing effort since the 1900sand can be broken down to two problems. A mechanical problem, getting a humanoid robot to move human-like or a software problem, getting a humanoid robot to behave human-like. These problems of moving and behaving human-like can be often solved using control theory as research advances. For the premise of this research, we explore how to balance and walk on non-flat terrain for the humanoid robot Darwin-Op. Since the focus was on the control theory, the vision control to detect the non-flat terrain was a side objective. The …
The Creation Of A Robotics Based Human Upper Body Model For Predictive Simulation Of Prostheses Performance, Derek James Lura
The Creation Of A Robotics Based Human Upper Body Model For Predictive Simulation Of Prostheses Performance, Derek James Lura
USF Tampa Graduate Theses and Dissertations
This work focuses on the use of 3D motion capture data to create and optimize a robotic human body model (RHBM) to predict the inverse kinematics of the upper body. The RHBM is a 25 degrees of freedom (DoFs) upper body model with subject specific kinematic parameters. The model was developed to predict the inverse kinematics of the upper body in the simulation of a virtual person, including persons with functional limitations such as a transradial or transhumeral amputation. Motion data were collected from 14 subjects: 10 non-amputees control subjects, 1 person with a transradial amputation, and 3 persons with …