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Filtering by: Creator Attardo, Geoffrey M. Contributor Dao, Jeremy Degree Field Robotics Degree Name Doctor of Philosophy (Ph.D.)

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:

labels. . . 101 7.4 Body and foot traces for an optimized 1.0 m/s walking gait from the actuated SLIP