Search Constraints

Start Over
Filtering by: Creator Gallops, S. Remove constraint Creator: Gallops, S. Subject Robots -- Motion Remove constraint Subject: Robots -- Motion

Search Results

  • Development of a control system for a walking machine leg

    Creator:
    Thompson, Eric William
    Abstract:
    This thesis presents a control system for a walking machine leg. The leg is representative of one of the six legs required for a proposed walking machine based on the geometry of the darkling beetle. Each of the three joints is controlled by a DC servo motor mounted to the...
    Resource Type:
    Masters Thesis
    Full Text:
    /s 96 8.16 Planned angle (dotted), actual angle (solid), and error in angle (thick, second Y-axis

  • Kinematic analysis of legged system locomotion on smooth horizontal surfaces

    Creator:
    Baek, Yoon Su
    Abstract:
    This thesis presents a model of legged locomotion in which position and velocity of body are directly controlled by positions and velocities of feet. One central relationship between foot acceleration, leg stroke and body velocity is developed. Procedures for determining all parameters of a step sequence including periods of constant...
    Resource Type:
    Dissertation
    Full Text:
    3.2) hB body height from ground (Section 3.1) hF(s); hF,j(s) trajectory of foot in one step