Optimizing dynamic locomotion in Baleka II: from simulation to real-world running

Simple item page
dc.contributor.advisorShield, Stacey
dc.contributor.advisorPatel, Amir
dc.contributor.authorMartin, Zubair
dc.date.accessioned2025-12-11T11:12:17Z
dc.date.available2025-12-11T11:12:17Z
dc.date.issued2025
dc.date.updated2025-12-11T11:09:50Z
dc.description.abstractIn the field of legged locomotion, agility is a critical area of research in robotics due to its potential to enable versatile movement for various applications, including search and rescue missions. However, bipedal robots face significant challenges in achieving rapid movements, such as maintaining stability and agility. This dissertation presents the development of Baleka II, a bipedal robot designed to overcome these challenges by achieving rapid legged locomotion through open-loop control. Building upon its predecessor, this research seeks to evaluate the robot's capacity to perform agile tasks by incorporating trajectory optimization algorithms and conducting real-world experiments. The study is structured around four primary objectives: improving the embedded system configuration, generating control trajectories using trajectory optimization, validating these solutions through simulations, and implementing them on the physical robot. The key locomotive tasks investigated include acceleration, deceleration (gait termination), and steady-state walking/running. The control system was implemented using the Speedgoat Real-Time Target Machine, integrating Simulink Real-Time and Simscape Multibody for real-time execution. Trajectory optimization was accomplished using Pyomo and Interior Point Optimizer (IPOPT), producing solutions for walking (0.5 m/s), walk-to-run transitions (1.5 m/s), and maximum forward speeds (4.0 m/s). Simulations were used to verify these solutions, taking into account the robot's physical constraints. Despite the use of open-loop control, stability was maintained through proportional-derivative (PD) controllers for each motor. The key findings of this research indicate that as the robot's speed increased, so did the actuation effort, peak torque, and GRFs, leading to velocity discrepancies and high deceleration upon ground contact. Nevertheless, Baleka II was able to accelerate into 3.2 m/s steady-state gait and decelerate in a stable manner, demonstrating competitive acceleration and deceleration rates relative to other bipedal robots. These results offer valuable insights into the use of open-loop optimal control for achieving rapid transitions in bipedal robots, with potential applications in search and rescue, industrial assistance, and entertainment. Future work will focus on enhancing the robot's deceleration capabilities, integrating additional sensors, exploring advanced control techniques, and testing the robot on uneven terrain. These efforts will further expand the potential of Baleka II for real-world applications.
dc.identifier.apacitationMartin, Z. (2025). <i>Optimizing dynamic locomotion in Baleka II: from simulation to real-world running</i>. (). University of Cape Town ,Faculty of Engineering and the Built Environment ,Department of Electrical Engineering. Retrieved from http://hdl.handle.net/11427/42434en_ZA
dc.identifier.chicagocitationMartin, Zubair. <i>"Optimizing dynamic locomotion in Baleka II: from simulation to real-world running."</i> ., University of Cape Town ,Faculty of Engineering and the Built Environment ,Department of Electrical Engineering, 2025. http://hdl.handle.net/11427/42434en_ZA
dc.identifier.citationMartin, Z. 2025. Optimizing dynamic locomotion in Baleka II: from simulation to real-world running. . University of Cape Town ,Faculty of Engineering and the Built Environment ,Department of Electrical Engineering. http://hdl.handle.net/11427/42434en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - Martin, Zubair AB - In the field of legged locomotion, agility is a critical area of research in robotics due to its potential to enable versatile movement for various applications, including search and rescue missions. However, bipedal robots face significant challenges in achieving rapid movements, such as maintaining stability and agility. This dissertation presents the development of Baleka II, a bipedal robot designed to overcome these challenges by achieving rapid legged locomotion through open-loop control. Building upon its predecessor, this research seeks to evaluate the robot's capacity to perform agile tasks by incorporating trajectory optimization algorithms and conducting real-world experiments. The study is structured around four primary objectives: improving the embedded system configuration, generating control trajectories using trajectory optimization, validating these solutions through simulations, and implementing them on the physical robot. The key locomotive tasks investigated include acceleration, deceleration (gait termination), and steady-state walking/running. The control system was implemented using the Speedgoat Real-Time Target Machine, integrating Simulink Real-Time and Simscape Multibody for real-time execution. Trajectory optimization was accomplished using Pyomo and Interior Point Optimizer (IPOPT), producing solutions for walking (0.5 m/s), walk-to-run transitions (1.5 m/s), and maximum forward speeds (4.0 m/s). Simulations were used to verify these solutions, taking into account the robot's physical constraints. Despite the use of open-loop control, stability was maintained through proportional-derivative (PD) controllers for each motor. The key findings of this research indicate that as the robot's speed increased, so did the actuation effort, peak torque, and GRFs, leading to velocity discrepancies and high deceleration upon ground contact. Nevertheless, Baleka II was able to accelerate into 3.2 m/s steady-state gait and decelerate in a stable manner, demonstrating competitive acceleration and deceleration rates relative to other bipedal robots. These results offer valuable insights into the use of open-loop optimal control for achieving rapid transitions in bipedal robots, with potential applications in search and rescue, industrial assistance, and entertainment. Future work will focus on enhancing the robot's deceleration capabilities, integrating additional sensors, exploring advanced control techniques, and testing the robot on uneven terrain. These efforts will further expand the potential of Baleka II for real-world applications. DA - 2025 DB - OpenUCT DP - University of Cape Town KW - engineering LK - https://open.uct.ac.za PB - University of Cape Town PY - 2025 T1 - Optimizing dynamic locomotion in Baleka II: from simulation to real-world running TI - Optimizing dynamic locomotion in Baleka II: from simulation to real-world running UR - http://hdl.handle.net/11427/42434 ER - en_ZA
dc.identifier.urihttp://hdl.handle.net/11427/42434
dc.identifier.vancouvercitationMartin Z. Optimizing dynamic locomotion in Baleka II: from simulation to real-world running. []. University of Cape Town ,Faculty of Engineering and the Built Environment ,Department of Electrical Engineering, 2025 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/42434en_ZA
dc.language.isoen
dc.language.rfc3066eng
dc.publisher.departmentDepartment of Electrical Engineering
dc.publisher.facultyFaculty of Engineering and the Built Environment
dc.publisher.institutionUniversity of Cape Town
dc.subjectengineering
dc.titleOptimizing dynamic locomotion in Baleka II: from simulation to real-world running
dc.typeThesis / Dissertation
dc.type.qualificationlevelMasters
dc.type.qualificationlevelMSc
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
thesis_ebe_2025_martin zubair.pdf
Size:
19.75 MB
Format:
Adobe Portable Document Format
Description:
Download
License bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
license.txt
Size:
1.72 KB
Format:
Item-specific license agreed upon to submission
Description:
Download
Collections
Masters