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Filtering by: Degree Field Robotics Subject Bipedalism

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:

between the robot and GUI computer. A number of robotic software frameworks exist, and sev eral of
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
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