School of Mathematics and Statistics

Postgraduate research

Research being undertaken by our current postgraduates:

Contact

Meiyi Tan


Supervisors

Start date

Jan 2009

Submission date

Meiyi Tan

Thesis

Optismising stable walk-run transition in biped locomotion

Summary

Walking is the most common mode of transport. It is an innate ability that most human possess, providing mobility and agility, and it is a part of our everyday life. However, we are still at a primitive stage in understanding the control principles that underlie walking and running.

Our research will focus on using body segment parameters (bsp) to find smooth control to move a robot from one periodic smooth motion to another periodic smooth motion in a stable configuration. As stability in biped robots has not been explored much, this study will place an emphasis on creating a stable biped model. It will also develop the idea used in modelling the simple walk-run model using compliant legs, into a more complex model that is able to imitate real walk-run motions.

Why my research is important

"Walking is convenient, it needs no special equipment, is self-regulating and inherently safe. Walking is as natural as breathing". John Butcher, Founder Walk21, 1999

Even though walking is part of our everyday life, we are only at the basic stage of understanding the mechanisms behind walking and running. It has also been suggested by previous studies that producing stable dynamic gaits still remains a challenging problem.



Statistics clinic

Assistance in statistics is available for Postgraduates students by research at the UWA Centre for Applied Statistics.

 

School of Mathematics and Statistics

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Last updated:
Monday, 16 June, 2014 2:41 PM

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