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Filtering by: Degree Field Mechanical Engineering Non-Academic Affiliation Oregon State University. Honors College Subject Bipedalism

Utilization of Robot Ankle Torque to Account for Foot Placement Error

Creator:

Bernards, Mitchell F.

Abstract:

Modern walking robots have shown that dynamic gaits can be achieved without ankle motors. It seems logical that the additional control authority that they provide can be used to improve the stability of the walking gait against foot placement errors caused by low level control. This thesis develops and compares...

Resource Type:

Honors College Thesis