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Filtering by: Creator Geyer, W. Rockwell Remove constraint Creator: Geyer, W. Rockwell Subject Bipedalism Remove constraint Subject: Bipedalism

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  • 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

  • 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

  • Dynamics and control for spring-mass legged robots

    Creator:
    Vejdani Noghreiyan, Hamid Reza
    Abstract:
    The objective of this study is to propose control strategies for legged robots to walk and run naturally like humans and animals. To achieve this goal, we use the spring-mass model for the legged robots to be able to create the same dynamics in the leg as humans and animals....
    Resource Type:
    Dissertation
    Full Text:
    Control for Spring-Mass Legged Robots Abstract approved: Jonathan W. Hurst The objective of this

  • 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:
    Dynamic Bipedal Locomotion Abstract approved: Jonathan W. Hurst Bipedal locomotion is a complex