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Filtering by: Creator Bianco, Stephanie R. Degree Field Mechanical Engineering Subject Biomechanics

From running birds to walking robots : optimization as a unifying framework for dynamic bipedal locomotion

Creator:

Hubicki, Christian M.

Abstract:

Bipedal locomotion is a complex phenomenon to understand and control, making it difficult for legged robots to achieve the speed, agility, efficiency, and robustness of their animal counterparts. This thesis argues for the use of numerical optimization to investigate and implement bipedal control as it applies to biology, dynamical models,...

Resource Type:

Dissertation

Full Text:

, foot angle, and spring length (subscripts h, k, a, f , and r respectively). . . . . . . . . . . 145