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Filtering by: Creator Geyer, W. Rockwell Remove constraint Creator: Geyer, W. Rockwell Advisor Hurst, Jonathan Remove constraint Advisor: Hurst, Jonathan

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  • 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

  • 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

  • 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

  • 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

  • Active Control of Passive Dynamics for Ground Disturbance Rejection

    Creator:
    Koepl, Devin N.
    Abstract:
    We present a model for running that combines active control with passive dynamics, in an attempt to approach the economy and robustness of animal running. Our work is inspired by examples of guinea fowl encountering an unexpected drop in ground surface, with little a ect on their running gait. Previous...
    Resource Type:
    Honors College Thesis
    Full Text:
    ) V el oc ity ( R PM ) 0 0.2 0.4 0.6 0.8 1 −800 −600 −400 −200 0 200 Power Time (s) Po w er

  • Preserving the Planar Dynamics of a CompliantBipedal Robot with a Yaw-Stabilizing Foot Design

    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