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Filtering by: Creator Wierzbicki%2C Igor H. Remove constraint Creator: Wierzbicki%2C Igor H. Creator Abate, Andrew M. Remove constraint Creator: Abate, Andrew M. Resource Type Dissertation Remove constraint Resource Type: Dissertation

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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:
    dynamic equations, M(q)q̈+ h(q, q̇) = Bu+ J(q)⊤f, (8) where M is the joint-space inertia matrix