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Filtering by: Creator Herlocker, Jonathan L. Remove constraint Creator: Herlocker, Jonathan L. Degree Name Master of Science (M.S.) Remove constraint Degree Name: Master of Science (M.S.) Subject Robots -- Motion Remove constraint Subject: Robots -- Motion

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  • ATRIAS 1.0 & 2.1 : enabling agile biped locomotion with a template-driven approach to robot design

    Creator:
    Grimes, Jesse A.
    Abstract:
    Practical bipedal robots need to be simultaneously efficient, robust, and versatile machines, but designing robots dynamically capable of these demands has been a significant bottleneck. We designed ATRIAS to be a highly dynamic biped capable of both walking and running untethered in real environments. To meet these goals, ATRIAS is...
    Resource Type:
    Masters Thesis
    Full Text:
    approved: Jonathan W. Hurst Practical bipedal robots need to be simultaneously e�cient, robust, and

  • Force and impulse control for spring-mass running

    Creator:
    Koepl, Devin N.
    Abstract:
    We present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. The motivation for our control strategy is based on observations of animals, which are able to economically walk and run over varying terrain and ground dynamics. It...
    Resource Type:
    Masters Thesis
    Full Text:
    Impulse Control for Spring-Mass Running Abstract approved: Jonathan W. Hurst We present a novel control

  • Template-based control of the bipedal robot ATRIAS

    Creator:
    Peekema, Andrew T.
    Abstract:
    This thesis details the derivation and application of template-based controls on a bipedal robot, as well as a description of the software framework that enabled experimentation. The software framework uses a combination of open-source tools including ROS, OROCOS, EtherCAT, and Xenomai to create a real-time environment for the controllers. The...
    Resource Type:
    Masters Thesis
    Full Text:
    : Jonathan W. Hurst This thesis details the derivation and application of template-based controls on a

  • Optimal control of an underactuated bipedal robot

    Creator:
    Jones, Mikhail S.
    Abstract:
    Bipedal robots represent a unique class of control problems that combine many of the most difficult elements of nonlinear control. These robots are typically designed to be mobile and as such have limited energy and actuator authority making efficiency a prime concern. Unlike wheeled robots, legged robots must transition between...
    Resource Type:
    Masters Thesis
    Full Text:
    : Jonathan W. Hurst Bipedal robots represent a unique class of control problems that combine many of the

  • Design and Development of a Salticid Inspired Jumping Robot

    Creator:
    Tachella, Ramsey
    Abstract:
    The ability to jump allows small robots to traverse rough terrain, clear large obstacles, and quickly reach elevated locations. These abilities have applications in a variety of areas such as, search and rescue, environmental monitoring, and urban warfare. The primary focus in current state-of-the-art jumping robots has been on jumping...
    Resource Type:
    Masters Thesis

  • Ballistic rebounds for wrapping a target with a casting manipulator

    Creator:
    Hill, Lucas P.
    Abstract:
    Casting manipulation in robotics is the act of launching a tethered projectile and using it to interact with the environment. One such interaction is wrapping a target. In this work, we identify throwing and tether control parameters for successfully wrapping a target with an end-weighted cable, evolving through a set...
    Resource Type:
    Masters Thesis
    Full Text:
    Target with a Casting Manipulator Abstract approved: Ross L. Hatton Casting manipulation in robotics