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Filtering by: Creator Place, Benjamin J. Remove constraint Creator: Place, Benjamin J. Creator Abate, Andrew M. Remove constraint Creator: Abate, Andrew M. License All rights reserved Remove constraint License: All rights reserved

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  • 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:
    Pnet PA PB f · ẋ τA τB θ̇B θ̇A 477 W — 372 W — — 143 W — 312 W -92 J 90 J -56 J 54 J

  • Preserving the Planar Dynamics of a CompliantBipedal Robot with a Yaw-Stabilizing Foot Design

    Creator:
    Abate, Andrew M.
    Abstract:
    The ATRIAS agile humanoid robot, along with a number of other spring-mass walking machines, currently have two instabilities: one resulting from inertial forces on the torso which cause the robot to spin like a top, and another resulting from stiff ground collisions which cause chattering of the point-contact toes. This...
    Resource Type:
    Honors College Thesis
    Full Text:
    added to the robot must adhere to these specifications. 3P R O J E C T R E Q U I R E M E N T S