High level decomposition for bipedal locomotion planning

dc.contributor.advisor Liu, C. Karen
dc.contributor.advisor Ames, Aaron D.
dc.contributor.author Grey, Michael Xander
dc.contributor.committeeMember Egerstedt, Magnus
dc.contributor.committeeMember Hauser, Kris
dc.contributor.committeeMember Zucker, Matt
dc.contributor.department Aerospace Engineering
dc.date.accessioned 2017-08-17T19:00:49Z
dc.date.available 2017-08-17T19:00:49Z
dc.date.created 2017-08
dc.date.issued 2017-08-02
dc.date.submitted August 2017
dc.date.updated 2017-08-17T19:00:49Z
dc.description.abstract Legged robotic platforms offer an attractive potential for deployment in hazardous scenarios that would be too dangerous for human workers. Legs provide a robot with the ability to step over obstacles and traverse steep, uneven, or narrow terrain. Such conditions are common in dangerous environments, such as a collapsing building or a nuclear facility during a meltdown. However, identifying the physical motions that a legged robot needs to perform in order to move itself through such an environment is particularly challenging. A human operator may be able to manually design such a motion on a case-by-case basis, but it would be inordinately time-consuming and unsuitable for real-world deployment. This thesis presents a method to decompose challenging large-scale motion planning problems into a high-level planning problem and a set of parallel low-level planning problems. We apply the method to quasi-static bipedal locomotion planning. The method is tested in a series of simulated environments that are designed to reflect some of the challenging geometric features that a robot may face in a disaster scenario. We analyze the improvement in performance that is provided by the high- and low-level decomposition, and we show that completeness is not lost by this decomposition.
dc.description.degree Ph.D.
dc.format.mimetype application/pdf
dc.identifier.uri http://hdl.handle.net/1853/58713
dc.language.iso en_US
dc.publisher Georgia Institute of Technology
dc.subject Humanoid
dc.subject Bipedal
dc.subject Locomotion
dc.subject Planning
dc.subject Whole body
dc.subject Kinematics
dc.subject Quasi-static
dc.title High level decomposition for bipedal locomotion planning
dc.type Text
dc.type.genre Dissertation
dspace.entity.type Publication
local.contributor.corporatename College of Engineering
local.contributor.corporatename Daniel Guggenheim School of Aerospace Engineering
local.relation.ispartofseries Doctor of Philosophy with a Major in Aerospace Engineering
relation.isOrgUnitOfPublication 7c022d60-21d5-497c-b552-95e489a06569
relation.isOrgUnitOfPublication a348b767-ea7e-4789-af1f-1f1d5925fb65
relation.isSeriesOfPublication f6a932db-1cde-43b5-bcab-bf573da55ed6
thesis.degree.level Doctoral
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