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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:: , 118]. Marc Raibert’s machines as well as many other hoppers [5, 67, 161] and bipeds [63] are able to

Additive Manufacturing of Austenitic Oxide Dispersion Strengthened Alloy Using Powder Feedstock Gas-atomized with Elemental Yttrium via Laser Directed Energy Deposition

Creator:: Yang, Seongun
Abstract:: This study investigates the microstructure and mechanical properties of an austenitic Oxide Dispersion Strengthened (ODS) steel produced by the Laser Directed Energy Deposition (LDED) process using powder feedstock atomized with elemental yttrium. The Microstructure of the samples was characterized by electron microscopy, and mechanical properties were measured using a tensile...
Resource Type:: Masters Thesis
Full Text:: . I thank EPRI. for the generous opportunity of research project, as well as Dr. Marc Albert and Dr

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:: , whereas a much larger fraction can be reached by animals on foot.” - Marc Raibert [223] 6 Figuring

Designing and Evaluating a User Interface for Multi-Robot Furniture

Creator:: Stoddard, Brett
Abstract:: A chair, once placed, will stay put until moved. Or will it? With the rise of technology being embeddable into everyday objects, what if that chair could move itself? Such robotic furniture has been featured in advertisements, art, and Human-Robot Interaction (HRI) research. Existing methods for operating robotic furniture have...
Resource Type:: Masters Thesis

A Computational Framework for Resilience-Informed Design

Creator:: Hulse, Daniel E.
Abstract:: It is desirable for complex engineered systems to perform missions efficiently and economically, even when these missions' complex, variable, long-term operational profiles make it likely for hazards to arise. It is thus important to design these systems to be resilient so that they will actively prevent and recover from hazards...
Resource Type:: Dissertation

Risk- and Reliability-Based Design Optimization in Offshore Renewable Energy Systems

Creator:: Clark, Caitlyn E.
Abstract:: Offshore wind and wave energy have the potential to be significant sources of future global electricity production, reduce carbon emissions, decrease dependence on energy importation, and stimulate economic growth in coastal and remote areas. Fixed-foundation and floating offshore wind and wave energy technologies are at different stages of development, but...
Resource Type:: Dissertation

Enterprise system implementation projects : a study of the impact of contextual factors on critical success factors

Creator:: Van Scoter, Diane J.
Abstract:: Critical success factors (CSFs) are those things that must be done correctly for a project to be successful; however, CSFs are not sufficient by themselves to guarantee success. CSFs, as identified in the literature, vary from study to study. In addition, previous studies have not typically included contextual details for...
Resource Type:: Dissertation

Robotic Actuation and Control with Programmable, Field-Activated Material Systems

Creator:: Bira, Nicholas P.
Abstract:: This dissertation presents novel, field-activated smart material systems for the actuation and control of autonomous robots. Smart materials, a type of material whose properties can be changed with an external stimuli, represent a promising direction to expand upon existing robotic control and actuation methods, particularly in the sub-fields of soft...
Resource Type:: Dissertation

Understanding Designer Mental Models to Support Computer Directed Analogical Design

Creator:: Arlitt, Ryan M.
Abstract:: Analysis of alternative concepts has a significant impact on design project outcomes, and yet many design teams fail to consider a significantly broad range of conceptual solutions. Within the realm of conceptual design exists a technique called design by analogy (DBA) -- the practice of reapplying old solutions to new...
Resource Type:: Dissertation

Achieving Transparency in Human-Collective Systems

Creator:: Roundtree, Karina A.
Abstract:: Collective robotic systems are biologically-inspired and exhibit behaviors found in spatial swarms (e.g., fish), colonies (e.g., ants), or a combination of both (e.g., bees). Collective robotic system popularity continues to increase due to their apparent global intelligence and emergent behaviors. Many applications can benefit from the incorporation of collectives, including...
Resource Type:: Dissertation

ScholarsArchive@OSU

Mechanical Design for Robot Locomotion

Additive Manufacturing of Austenitic Oxide Dispersion Strengthened Alloy Using Powder Feedstock Gas-atomized with Elemental Yttrium via Laser Directed Energy Deposition

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

Designing and Evaluating a User Interface for Multi-Robot Furniture

A Computational Framework for Resilience-Informed Design

Risk- and Reliability-Based Design Optimization in Offshore Renewable Energy Systems

Enterprise system implementation projects : a study of the impact of contextual factors on critical success factors

Robotic Actuation and Control with Programmable, Field-Activated Material Systems

Understanding Designer Mental Models to Support Computer Directed Analogical Design

Achieving Transparency in Human-Collective Systems

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