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  • 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:
    joint between body and leg. The three link model assumed only friction prevented movement at the joint

  • 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:
    subsegments contact the ground during walking and it does not affect the overall leg movement of the beetle

  • 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:
    touch ground during walking and tarsus is not related to the leg movement of beetle, this segment has

  • Comparison of leg spring characteristics during running using mass-spring-damper modeling

    Creator:
    Watanatada, Pasakorn
    Abstract:
    During heel-toe running, the vertical ground reaction force (VGRF) profile has both impact and active peaks. Although the mass-spring model (a single mass and a linear spring) is simple and useful to predict running characteristics, its simulation of VGRF profiles produces only a single peak rather than the double peak...
    Resource Type:
    Dissertation
    Full Text:
    , 136 and 126 kN/m, respectively. While it is mathematically convenient to model the leg and body with

  • 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:
    investigated for the point mass and rigid body case. Leg actuation in the model is performed through variation