Index Catalog // ScholarsArchive@OSU

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

Creator:: Batke, Ryan
Abstract:: As bipedal robots move ever closer to being integrated into all manner of real world envi-ronments there is a necessity to push their dynamic capabilities to meet or exceed those of humans and animals. Advancements must be made to address ordinary challenges that arise everyday in the same environments that...
Resource Type:: Masters Thesis

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

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

Creator:: Jones, Mikhail S.
Abstract:: Bipedal robots represent a unique class of control problems that combine many of the most difficult elements of nonlinear control. These robots are typically designed to be mobile and as such have limited energy and actuator authority making efficiency a prime concern. Unlike wheeled robots, legged robots must transition between...
Resource Type:: Masters Thesis

Creator:: Vejdani Noghreiyan, Hamid Reza
Abstract:: We seek the control strategies that are applicable on legged robots and control them to run in real world as robust and efficient as animals. To achieve this goal, we need to understand the principles of legged locomotion and the control policies that animals use during running. In this study...
Resource Type:: Masters Thesis

Creator:: Kemper, Kevin C., II
Abstract:: For robotic manipulation tasks in uncertain environments, research typically revolves around developing the best possible software control strategy. However, the passive dynamics of the mechanical system, including inertia, stiffness, damping and torque limits, often impose performance limitations that cannot be overcome with software control. Discussions about the passive dynamics are...
Resource Type:: Masters Thesis

ScholarsArchive@OSU