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Filtering by: Creator Nunes, Jason L. Creator Abate, Andrew M. Non-Academic Affiliation Oregon State University. Honors College

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:

, Author A C K N O W L E D G M E N T S Having spent an absurd amount of time in the Dynamic Robotics