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Filtering by: Academic Affiliation Mechanical, Industrial, and Manufacturing Engineering Remove constraint Academic Affiliation: Mechanical, Industrial, and Manufacturing Engineering Committee Member Fern, Alan Remove constraint Committee Member: Fern, Alan

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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
Agile Bipedal Maneuvers Optimized then Learned from Single Rigid-Body Model Dynamics

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
Applying hierarchical and adaptive control to coordinating simple robots

Creator:

Knudson, Matthew D.

Abstract:

Coordinating multiple robots to achieve a complex task requires solving two distinct control problems: the high-level control problem of ensuring that each robot aims to perform a useful task (e.g., coordination) and the low-level control problem of ensuring that each robot actually performs the correct actions to achieve its task...

Resource Type:

Masters Thesis
Multiagent learning for locomotion and coordination in tensegrity robotics

Creator:

Iscen, Atil

Abstract:

Tensegrity structures are composed of pure compressional elements that are connected via a network of pure tensional elements. The concept of tensegrity promises numerous advantages to the field of robotics. Tensegrity robots are, however, notoriously difficult to control due to their oscillatory nature and nonlinear interaction between the components. Multiagent...

Resource Type:

Dissertation
Navigation and coordination of autonomous mobile robots with limited resources

Creator:

Knudson, Matthew D.

Abstract:

The use of autonomous robots in complex exploration tasks is rapidly increasing. Indeed, robots can provide speed and cost effectiveness in many tasks, as well as allow operation in environments that are hostile to humans. In this dissertation we: 1) provide two adaptive navigation algorithms; 2) develop a coordination mechanism;...

Resource Type:

Dissertation

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Academic Affiliation

Mechanical, Industrial, and Manufacturing Engineering[remove]5
Electrical Engineering and Computer Science1

Advisor

Tumer, Kagan3
Hatton, Ross L.2
Hurst, Jonathan W.2
Hollinger, Geoffrey1

Commencement Year

Commencement Year range begin – Commencement Year range end

Current results range from 2008 to 2023

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Committee Member

Fern, Alan[remove]5
Batten, Belinda2
Haller, Merrick1
Johnson, Aaron1
Porter, David1
more Committee Members »

Creator

Knudson, Matthew D.2
Batke, Ryan1
Green, Kevin1
Iscen, Atil1

Contributor

Batke, Ryan1
Dao, Jeremy1
Godse, Yesh1
Siekmann, Jonah1
Warila, John1
more Contributors »

Date

Date range begin – Date range end

Current results range from 2008 to 2022

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Decade

2020-20292
2010-20191
2000-20092

Degree Field

Mechanical Engineering3
Robotics2
Computer Science1

Degree Level

Doctoral3
Master's2

Degree Name

Doctor of Philosophy (Ph.D.)3
Master of Science (M.S.)2

File Format

application/pdf1

Language

English [eng]5

License

All rights reserved5

Non-Academic Affiliation

Oregon State University. Graduate School3
Oregon State University. Collaborative Robotics and Intelligent Systems (CoRIS) Institute1

Peer Reviewed

No5

Resource Type

Dissertation3
Masters Thesis2

Rights Statement

In Copyright5

Subject

Robots -- Control systems2
Adaptive control systems1
Adaptive control systems -- Mathematical models1
Autonomous robots1
Distributed artificial intelligence1
more Subjects »

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