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Filtering by: Alternative title ssim Report no. 899-9 Remove constraint Alternative title ssim: Report no. 899-9 Committee Member Fern, Alan Remove constraint Committee Member: Fern, Alan Non-Academic Affiliation Oregon State University. Collaborative Robotics and Intelligent Systems (CoRIS) Institute Remove constraint Non-Academic Affiliation: Oregon State University. Collaborative Robotics and Intelligent Systems (CoRIS) Institute

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  • 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
    Full Text:
    . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 9 General Conclusions 156 Bibliography 159 LIST OF FIGURES Figure Page 2.1 Example of damage