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Filtering by: Committee Member Smith, Charles Remove constraint Committee Member: Smith, Charles Contributor advisor sim Schmitt, John Remove constraint Contributor advisor sim: Schmitt, John

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  • Model predictive control for sagittal plane locomotion

    Creator:
    Maunder, Cary R.
    Abstract:
    A distinct characteristic of legged locomotion is its periodic nature. This periodic motion, in the form of a periodic orbit, has been the target of many walking and running control strategies. The spring loaded inverted pendulum (SLIP) has become a popular model of sagittal plane locomotion, exhibiting behavior characteristic of...
    Resource Type:
    Masters Thesis

  • Reduced order modeling of legged locomotion in the horizontal plane

    Creator:
    Wickramasuriya, Gamika Arun
    Abstract:
    Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner over complex terrain, a feat that has yet to be equaled by man-made legged robots. Recent experimental results suggest that these insects may employ a hierarchical control structure, in which locomotion performance emerges from a combination of...
    Resource Type:
    Dissertation
    Full Text:
    Dr. John Schmitt for mentoring, teaching and guiding me over the years. I thank Dr. Charles E. Smith