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Filtering by: Creator Lemieux, Jason Andre Remove constraint Creator: Lemieux, Jason Andre Degree Field Robotics Remove constraint Degree Field: Robotics

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Template-based control of the bipedal robot ATRIAS

Creator:

Peekema, Andrew T.

Abstract:

This thesis details the derivation and application of template-based controls on a bipedal robot, as well as a description of the software framework that enabled experimentation. The software framework uses a combination of open-source tools including ROS, OROCOS, EtherCAT, and Xenomai to create a real-time environment for the controllers. The...

Resource Type:

Masters Thesis
Mechanical Design for Robot Locomotion

Creator:

Abate, Andrew M.

Abstract:

Robotic limbs have been shown to enable mobility in unstructured, real-world terrain; they allow robots to step around cluttered environments, scramble up hills, carry heavy loads, and even perform acrobatics. However, mechanical limbs cannot operate as a means for such dynamic locomotion if they are simply treated as general articulated...

Resource Type:

Dissertation
From running birds to walking robots : optimization as a unifying framework for dynamic bipedal locomotion

Creator:

Hubicki, Christian M.

Abstract:

Bipedal locomotion is a complex phenomenon to understand and control, making it difficult for legged robots to achieve the speed, agility, efficiency, and robustness of their animal counterparts. This thesis argues for the use of numerical optimization to investigate and implement bipedal control as it applies to biology, dynamical models,...

Resource Type:

Dissertation
Why Use Ankles? An Optimization Approach to Discover Energetic Benefits of Ankles in Steady Locomotion

Creator:

Hector, Michael J.

Abstract:

Design and control of legged robots is a popular field in the pursuit of building robots that can be as mobile as humans. While much effort is put into understanding how to control the dynamics of these legs, less effort is focused on designing and controlling robot ankles. Ankles on...

Resource Type:

Masters Thesis
Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

Creator:

Green, Kevin

Abstract:

Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...

Resource Type:

Dissertation
Terrain-Aware Probabilistic Search Planning for Unmanned Aerial Vehicles

Creator:

Schomer, Nathan L.

Abstract:

Mountain search and rescue is a vital form of emergency response to assist people in austere environments (e.g., extreme terrain, poor weather). Volunteer mountain search and rescue teams in the United States have begun adopting consumer- grade unmanned aerial vehicles to assist a variety of tasks (e.g., search, resource delivery);...

Resource Type:

Masters Thesis
Robotic Actuation and Control with Programmable, Field-Activated Material Systems

Creator:

Bira, Nicholas P.

Abstract:

This dissertation presents novel, field-activated smart material systems for the actuation and control of autonomous robots. Smart materials, a type of material whose properties can be changed with an external stimuli, represent a promising direction to expand upon existing robotic control and actuation methods, particularly in the sub-fields of soft...

Resource Type:

Dissertation

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Academic Affiliation

Mechanical, Industrial, and Manufacturing Engineering5

Advisor

Hurst, Jonathan W.4
Hatton, Ross L.2
Adams, Julie A.1
Davidson, Joseph1
Hurst, Jonathan1

Commencement Year

Commencement Year range begin – Commencement Year range end

Current results range from 2015 to 2024

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Committee Member

Balasubramanian, Ravi2
Hollinger, Geoff2
Strimbu, Bogdan2
Brekken, Ted1
Demirel, Onan1
more Committee Members »

Creator

Abate, Andrew M.1
Bira, Nicholas P.1
Green, Kevin1
Hector, Michael J.1
Hubicki, Christian M.1
more Creators »

Contributor

Batke, Ryan1
Dao, Jeremy1
Godse, Yesh1
Green, Kevin J.1
Siekmann, Jonah1
more Contributors »

Date

Date range begin – Date range end

Current results range from 2014 to 2024

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Decade

2020-20293
2010-20194

Degree Field

Robotics[remove]7
Mechanical Engineering1

Degree Level

Doctoral4
Master's3

Degree Name

Doctor of Philosophy (Ph.D.)4
Master of Science (M.S.)3

Language

English [eng]7

License

All rights reserved7

Non-Academic Affiliation

Oregon State University. Graduate School2
Oregon State University. Collaborative Robotics and Intelligent Systems (CoRIS) Institute1

Peer Reviewed

No7

Resource Type

Dissertation4
Masters Thesis3

Rights Statement

In Copyright7

Subject

Bipedalism2
Robots -- Control systems2
Biomechanics1
Flightless birds -- Locomotion1
Leg -- Mechanical properties1
more Subjects »

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