Index Catalog // ScholarsArchive@OSU

ATRIAS 1.0 & 2.1 : enabling agile biped locomotion with a template-driven approach to robot design

Creator:: Grimes, Jesse A.
Abstract:: Practical bipedal robots need to be simultaneously efficient, robust, and versatile machines, but designing robots dynamically capable of these demands has been a significant bottleneck. We designed ATRIAS to be a highly dynamic biped capable of both walking and running untethered in real environments. To meet these goals, ATRIAS is...
Resource Type:: Masters Thesis
Full Text:: . . . . . . . . . . . . . . . . . . . . . . . 6 2 ATRIAS 1.0: Design and Demonstration of a Spring-Mass Hopping Robot in Human Scale 8 2.1

Distributed architecture and fast parallel algorithms in real-time robot control

Creator:: Binder, Eli Eliyahu
Abstract:: Control algorithms for accurate and fast moving robots require the use of the complete dynamic model of the robot. The complete dynamic model takes into account the nonlinearity and coupling terms of the whole structure. The time of computing the dynamic equations determines whether they are usable in practical applications....
Resource Type:: Dissertation
Full Text:: the forces and torques acting on the robot. Such equations 15 are used to design control

Dynamics and control for spring-mass legged robots

Creator:: Vejdani Noghreiyan, Hamid Reza
Abstract:: The objective of this study is to propose control strategies for legged robots to walk and run naturally like humans and animals. To achieve this goal, we use the spring-mass model for the legged robots to be able to create the same dynamics in the leg as humans and animals....
Resource Type:: Dissertation
Full Text:: control policy on the full order model (anchor) and finally implements the policy on the robot. The

Electric Machine Capability Characterization for Actuators in Disaster Response Robots

Creator:: Li, Qianyun
Abstract:: Disaster response robots need to be simultaneously able to survive extreme environment and complete the mission efficiently and robustly. One of the determinants is the performance of the actuators in each joint, which drive the robot to the desired motion accurately. In robotics society, people usually build their robots directly...
Resource Type:: Masters Thesis
Full Text:: simulated different situations that a disaster response robot would encounter, and the toque-speed

Autonomous helicopter systems: design and implementation solutions

Creator:: Nguyen, John
Abstract:: Creating intelligent robotics is at the cutting edge of technology. Unmanned aerial vehicles (UAV) are of particular interest for surveillance applications. UAVs have the potential to provide quick and cheap aerial data that would be difficult to obtain by conventional means. UAVs also have the ability to navigate without being...
Resource Type:: Honors College Thesis
Full Text:: project provide designers with insight into the construction and design of such vehicles. 3 2

Tekbots™ : creating excitement for engineering through community, innovation and troubleshooting

Creator:: Oregon State University. Dept. of Computer Science, Heer, Donald, Traylor, Roger L., and Fiez, Terri
Abstract:: Attracting, educating and retaining new engineering students is a challenge. The creative aspirations and "can do" attitude spawned by the space race, Heathkits, and homemade crystal radios have been replaced with the passive satisfaction of video games, cell phones and throwaway electronic appliances. At Oregon State University we have made...
Resource Type:: Research Paper
Full Text:: using a robot platform we call TekBots. We are emphasizing innovation, community building, and

TekBots : a platform for learning to revitalize undergraduate engineering education

Creator:: Heer, Donald
Abstract:: In 2000 the Electrical and Computer Engineering department at Oregon State University began a new and innovative program named TekBots[superscript TM]. This program was created to solve the problems of students in existing undergraduate engineering education not having sufficient skill when graduating in six program educational objectives; Depth, Breadth, Professionalism,...
Resource Type:: Masters Thesis
Full Text:: the robot competition fun and look forward to being engineers

Extending the TekBots [superscript TM] Platform for Learning [superscript TM] to upper division ECE courses

Creator:: Smit, Adriaan
Abstract:: In April of 1997 it was pointed out at an NSF Engineering Education Innovators conference that “… education appears to ignore the need for connections and for integration – which should be at the core of an engineering education.” In order to solve this problem a group named ‘TekBotsTM’ was...
Resource Type:: Masters Thesis
Full Text:: Programming (ECE375), Signals and Systems II (ECE352), and Microprocessor System Design (ECE473

Development test suite for FPGA TekBot learning platform

Creator:: Lai, Gerald
Abstract:: As the Tekbots program expands into senior and graduate level classes at Oregon State University, so does the need arise for more complex learning platforms. These complex hardware platforms cannot be adequately tested in a manufacturing environment as we have done previously. Also, due to their complexity, these platforms require...
Resource Type:: Masters Thesis
Full Text:: and fulfilling. The extensibility of the robot meant that more circuit boards were allowed to be

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
Full Text:: locomotion. Once we properly understand the control objectives of locomotion and have a robot design capable

ScholarsArchive@OSU

ATRIAS 1.0 & 2.1 : enabling agile biped locomotion with a template-driven approach to robot design

Distributed architecture and fast parallel algorithms in real-time robot control

Dynamics and control for spring-mass legged robots

Electric Machine Capability Characterization for Actuators in Disaster Response Robots

Autonomous helicopter systems: design and implementation solutions

Tekbots™ : creating excitement for engineering through community, innovation and troubleshooting

TekBots : a platform for learning to revitalize undergraduate engineering education

Extending the TekBots [superscript TM] Platform for Learning [superscript TM] to upper division ECE courses

Development test suite for FPGA TekBot learning platform

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

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