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

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

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

Mechanical Design for Robot Locomotion

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
Full Text:: April 11, 2018. Title: Mechanical Design for Robot Locomotion. Abstract approved: Jonathan W. Hurst

Fully Soft 3D Printed Electroactive Fluidic Valve in Soft Hydraulic Robots

Creator:: Zatopa, Alexander
Abstract:: Soft robots are designed to utilize their compliance and contortionistic abilities to both interact safely with their environment and move through it in ways a rigid robot cannot. To more completely achieve this, the robot should be made of as many soft components as possible. Here we present a completely...
Resource Type:: Masters Thesis
Full Text:: support during my study. Second, I would like to thank Dr. Jonathan Hurst, Dr. Cindy Grimm and Dr. Fuxin

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

Photonic Sintering of Nanoparticle Inks : Experimental Characterization, Computational Modeling and System Design for Additive Manufacturing

Creator:: MacNeill, William D.
Abstract:: Photonic sintering of nanoparticles is a relatively new process for sintering of nanoparticles, deposited on a substrate, into functional solid structures. The working principle of this process is the incidence of large-area broad-spectrum light onto deposited nanoparticles, which results in heat generation in the nanoparticles and their subsequent densification. Key...
Resource Type:: Masters Thesis

Making the Unconscious Unconscious : Reclaiming Microinteractions for People with Motor Disabilities

Creator:: Lazewatsky, Daniel A.
Abstract:: Numerous diseases and injuries can limit a person's ability to perform everyday tasks -- things like getting dressed, bathing, and eating. Anything that requires physical activity can be affected; even simple things like turning on the lights can become difficult or impossible. Until recently, the only way for a person...
Resource Type:: Dissertation

Reduced order multi-legged mathematical model of cockroach locomotion on inclines

Creator:: Peterson, Delvin E.
Abstract:: While the locomotion performance of legged robots over flat terrain or known obstacles has improved over the past few decades, they have yet to equal the performance of their animal counterparts over variable terrain. This work analyzes a multi-legged reduced order model of cockroach locomotion on variable slopes which will...
Resource Type:: Dissertation

ScholarsArchive@OSU

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

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

Dynamics and control for spring-mass legged robots

Force and impulse control for spring-mass running

Mechanical Design for Robot Locomotion

Fully Soft 3D Printed Electroactive Fluidic Valve in Soft Hydraulic Robots

Dynamics and stability of lateral plane locomotion on variable inclines

Photonic Sintering of Nanoparticle Inks : Experimental Characterization, Computational Modeling and System Design for Additive Manufacturing

Making the Unconscious Unconscious : Reclaiming Microinteractions for People with Motor Disabilities

Reduced order multi-legged mathematical model of cockroach locomotion on inclines

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