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Filtering by: Creator Istok, Jonathan D. Remove constraint Creator: Istok, Jonathan D. Advisor Hurst, Jonathan W. Remove constraint Advisor: Hurst, Jonathan W.

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  • 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

  • Utilization of Robot Ankle Torque to Account for Foot Placement Error

    Creator:
    Bernards, Mitchell F.
    Abstract:
    Modern walking robots have shown that dynamic gaits can be achieved without ankle motors. It seems logical that the additional control authority that they provide can be used to improve the stability of the walking gait against foot placement errors caused by low level control. This thesis develops and compares...
    Resource Type:
    Honors College Thesis
    Full Text:
    . Abstract Approved: Jonathan Hurst Modern walking robots have shown that dynamic gaits can be achieved

  • The Design Freedoms of a Novel Cable-Driven Manipulator

    Creator:
    Layng, Brian M.
    Abstract:
    Legged locomotion in robotics benefits from engineered hardware dynamics such as configuration-dependent, nonlinear transmissions and compliance. This thesis introduces a novel cable driven leg that allows the design of configuration-dependent transmission ratios while also permitting the addition of compliance in line with the cables to achieve compliant legged locomotion. The...
    Resource Type:
    Masters Thesis
    Full Text:
    Cable-Driven Manipulator Abstract approved: Jonathan W. Hurst Abstract - Legged locomotion in

  • 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

  • Passive dynamics and their influence on performance of physical interaction tasks

    Creator:
    Kemper, Kevin C., II
    Abstract:
    For robotic manipulation tasks in uncertain environments, research typically revolves around developing the best possible software control strategy. However, the passive dynamics of the mechanical system, including inertia, stiffness, damping and torque limits, often impose performance limitations that cannot be overcome with software control. Discussions about the passive dynamics are...
    Resource Type:
    Masters Thesis
    Full Text:
    Dynamics and Their Influence on Performance of Physical Interaction Tasks Abstract approved: Jonathan W

  • Optimal control of an underactuated bipedal robot

    Creator:
    Jones, Mikhail S.
    Abstract:
    Bipedal robots represent a unique class of control problems that combine many of the most difficult elements of nonlinear control. These robots are typically designed to be mobile and as such have limited energy and actuator authority making efficiency a prime concern. Unlike wheeled robots, legged robots must transition between...
    Resource Type:
    Masters Thesis
    Full Text:
    : Jonathan W. Hurst Bipedal robots represent a unique class of control problems that combine many of the

  • 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

  • IMU integration for ATRIAS

    Creator:
    Van Why, Johnathan
    Abstract:
    An Inertial Measurement Unit (IMU) is an important part of a freestanding bipedal robot's state estimation system. IMUs return translational accelerations and rotational velocities, which must be numerically integrated to obtain a robot's orientation. This thesis documents the implementation of the IMU alignment and integration systems for the ATRIAS robot....
    Resource Type:
    Honors College Thesis
    Full Text:
    : Jonathan Hurst An Inertial Measurement Unit (IMU) is an important part of a freestanding bipedal

  • 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

  • Comparing Delay and Reflected Inertia for an Actuated Spring Loaded Inverted Pendulum Model

    Creator:
    Reinschmidt, Kurt W.
    Abstract:
    Legged robots, while advancing quickly, have far to go before they can recover from major disturbances safely and consistently. Reflected inertia, which affects how quickly the actuators can physically respond to an environmental disturbance, and delay, which describes the time necessary for the controller to sense, re-plan, and respond to...
    Resource Type:
    Honors College Thesis
    Full Text:
    Loaded Inverted Pendulum Model Abstract approved: Jonathan Hurst Legged robots, while advancing