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

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  • 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

  • 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
    Full Text:
    : Jonathan W. Hurst This thesis details the derivation and application of template-based controls on a

  • Why Use Ankles? An Optimization Approach to Discover Energetic Benefits of Ankles in Steady Locomotion

    Creator:
    Hector, Michael J.
    Abstract:
    Design and control of legged robots is a popular field in the pursuit of building robots that can be as mobile as humans. While much effort is put into understanding how to control the dynamics of these legs, less effort is focused on designing and controlling robot ankles. Ankles on...
    Resource Type:
    Masters Thesis
    Full Text:
    : Jonathan W. Hurst Abstract - Design and control of legged robots is a popular field in the pursuit of

  • 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:
    April 11, 2018. Title: Mechanical Design for Robot Locomotion. Abstract approved: Jonathan W. Hurst

  • Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

    Creator:
    Green, Kevin
    Abstract:
    Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...
    Resource Type:
    Dissertation

  • Agile Bipedal Maneuvers Optimized then Learned from Single Rigid-Body Model Dynamics

    Creator:
    Batke, Ryan
    Abstract:
    As bipedal robots move ever closer to being integrated into all manner of real world envi-ronments there is a necessity to push their dynamic capabilities to meet or exceed those of humans and animals. Advancements must be made to address ordinary challenges that arise everyday in the same environments that...
    Resource Type:
    Masters Thesis