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Filtering by: Advisor Hurst, Jonathan W. Remove constraint Advisor: Hurst, Jonathan W. Date issued sim 2015-03-16 Remove constraint Date issued sim: 2015-03-16

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  • Template-based control of the bipedal robot ATRIAS

    Creator:
    Peekema, Andrew T.
    Abstract:
    This thesis details the derivation and application of template-based controls on a bipedal robot, as well as a description of the software framework that enabled experimentation. The software framework uses a combination of open-source tools including ROS, OROCOS, EtherCAT, and Xenomai to create a real-time environment for the controllers. The...
    Resource Type:
    Masters Thesis