Index Catalog // ScholarsArchive@OSU

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

Creator:: Abate, Andrew M.
Abstract:: The ATRIAS agile humanoid robot, along with a number of other spring-mass walking machines, currently have two instabilities: one resulting from inertial forces on the torso which cause the robot to spin like a top, and another resulting from stiff ground collisions which cause chattering of the point-contact toes. This...
Resource Type:: Honors College Thesis
Full Text:: , Author A C K N O W L E D G M E N T S Having spent an absurd amount of time in the Dynamic Robotics

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

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

ScholarsArchive@OSU