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  • Reduced order multi-legged mathematical model of cockroach locomotion on inclines

    Creator:
    Peterson, Delvin E.
    Abstract:
    While the locomotion performance of legged robots over flat terrain or known obstacles has improved over the past few decades, they have yet to equal the performance of their animal counterparts over variable terrain. This work analyzes a multi-legged reduced order model of cockroach locomotion on variable slopes which will...
    Resource Type:
    Dissertation
    Full Text:
    : Reduced Order Multi-Legged Mathematical Modeling of Cockroach Locomotion on Inclines Abstract approved

  • Dynamics and stability of lateral plane locomotion on variable inclines

    Creator:
    Bonnono, Scott A.
    Abstract:
    An actuated, bipedal model is developed to investigate lateral plane locomotion dynamics and stability on inclines. Both the point mass case and rigid body case are considered. Variations in the force-free leg length are determined via inverse dynamics to explicitly and implicitly match prescribed lateral and fore-aft force profiles, respectively....
    Resource Type:
    Masters Thesis
    Full Text:
    and ability to effectively model 3-dimensional legged locomotion dynamics will enable improvements in

  • Range of motion of beetle body as a function of foot positions

    Creator:
    Foo, Chee Kit
    Abstract:
    This thesis presents a method for determining range of body motion for a walking machine with feet fixed on the ground. The darkling beetle was selected as the sample subject in this study. A closed form inverse kinematic solution is used to determine if a point in space is within...
    Resource Type:
    Masters Thesis
    Full Text:
    candidates for biological research in legged locomotion (Pedley 1977, Gewecke and Wendler 1985

  • Range of motion of beetle body as a function of leg parameters

    Creator:
    Hsu, Chun-chia
    Abstract:
    This thesis examines the influence on range-of-motion of beetle body of changes in leg segment parameters. From beetle's leg orientation, influence of the following leg segment parameters are investigated: coxa length, coxa twist and body-coxa joint. Kinematic equations are derived for legs of the beetle. Roots of quartic polynomials obtained...
    Resource Type:
    Masters Thesis
    Full Text:
    , arthropods and vertebrates are 3 the only candidates for biological research in legged locomotion

  • Reduced order modeling of legged locomotion in the horizontal plane

    Creator:
    Wickramasuriya, Gamika Arun
    Abstract:
    Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner over complex terrain, a feat that has yet to be equaled by man-made legged robots. Recent experimental results suggest that these insects may employ a hierarchical control structure, in which locomotion performance emerges from a combination of...
    Resource Type:
    Dissertation
    Full Text:
    developed reduced order model for lateral plane locomotion and extend it by developing leg positioning and

  • A simplified dynamic model of the hind leg of a beetle during step initiation

    Creator:
    Mallysetty, Venkata Ramana
    Abstract:
    This thesis investigates a simple dynamic model of the hind leg of a beetle during initiation of a step. The primary assumption was that the full load of the body was carried on the hind leg during this time. That is, the only forces on the body were that of...
    Resource Type:
    Masters Thesis
    Full Text:
    system of the model and type of task required. An animal with locomotion confined to walking or running

  • Simulations of geckos dry adhesion system

    Creator:
    Hu, Congcong
    Abstract:
    Simulation models were developed to explore the reversible nature of gecko dry adhesion system. The central idea of this model is that even with a small moment imparted on the contact tip, the seta can be easily ad-adhered. It is shown that this contact condition is very sensitive, but can...
    Resource Type:
    Masters Thesis
    Full Text:
    of this model is that even with a small moment imparted on the contact tip, the seta can be easily