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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 Subject Robots -- Dynamics Remove constraint Subject: Robots -- Dynamics

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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

  • 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

  • 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