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Filtering by: Creator Herlocker, Jonathan L. Remove constraint Creator: Herlocker, Jonathan L. Academic Affiliation Mechanical, Industrial, and Manufacturing Engineering Remove constraint Academic Affiliation: Mechanical, Industrial, and Manufacturing Engineering Non-Academic Affiliation Oregon State University. Graduate School Remove constraint Non-Academic Affiliation: Oregon State University. Graduate School

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  • 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:
    Dynamic Bipedal Locomotion Abstract approved: Jonathan W. Hurst Bipedal locomotion is a complex

  • 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:
    approved: Jonathan W. Hurst Practical bipedal robots need to be simultaneously e�cient, robust, and

  • 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 for Spring-Mass Legged Robots Abstract approved: Jonathan W. Hurst The objective of this

  • Force and impulse control for spring-mass running

    Creator:
    Koepl, Devin N.
    Abstract:
    We present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. The motivation for our control strategy is based on observations of animals, which are able to economically walk and run over varying terrain and ground dynamics. It...
    Resource Type:
    Masters Thesis
    Full Text:
    Impulse Control for Spring-Mass Running Abstract approved: Jonathan W. Hurst We present a novel control

  • Control of spring-mass running robots

    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
    Full Text:
    approved: Jonathan W. Hurst We seek the control strategies that are applicable on legged robots and

  • Template-based control of the bipedal robot ATRIAS

    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
    Full Text:
    : Jonathan W. Hurst This thesis details the derivation and application of template-based controls on a

  • Optimal control of an underactuated bipedal robot

    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
    Full Text:
    : Jonathan W. Hurst Bipedal robots represent a unique class of control problems that combine many of the

  • Passive dynamics and their influence on performance of physical interaction tasks

    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
    Full Text:
    Dynamics and Their Influence on Performance of Physical Interaction Tasks Abstract approved: Jonathan W

  • Failure state identification for requirements development during complex system design

    Creator:
    Mueller, Jonathan D.
    Abstract:
    The increasing level of complexity in systems creates a growing challenge for engineers to design safe and reliable systems. The growing complexity can lead to possible moments when situations occur that were unanticipated or were not known that they could occur by designers and leave the system in an undesirable...
    Resource Type:
    Masters Thesis
    Full Text:
    AN ABSTRACT OF THE THESIS OF Jonathan D. Mueller for the degree of Master of Science in

  • Automated Synthesis of Hybrid Energy Network Optimization using A* & Ensemble Forecasting

    Creator:
    Luc, Jonathan H.
    Abstract:
    This thesis describes a method for automatically generating and evaluating small-scale off-grid energy systems. Such systems are comprised of components such as solar panels, residential-scale wind turbines, batteries, inverters and charge controllers. These disparate components are assembled into feasible networks through the use of topological optimization and graph grammar rules....
    Resource Type:
    Masters Thesis
    Full Text:
    AN ABSTRACT OF THE THESIS OF Jonathan H. Luc for