Preserving the Planar Dynamics of a CompliantBipedal Robot with a Yaw-Stabilizing Foot Design

Honors College Thesis

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Citeable URL: https://ir.library.oregonstate.edu/concern/honors_college_theses/3b591b80q

Descriptions

Attribute Name	Values
Creator	Abate, Andrew M.
Abstract	The ATRIAS agile humanoid robot, along with a number of other spring-mass walking machines, currently have two instabilities: one resulting from inertial forces on the torso which cause the robot to spin like a top, and another resulting from stiff ground collisions which cause chattering of the point-contact toes. This thesis presents a solution to these two problems in a manner consistent with the exacting design philosophy of springmass walking machines. A passive, compliant, line-contact foot is proposed with only 120 grams of added mass and a fully-adjustable return mechanism.
License	All rights reserved
Resource Type	Honors College Thesis
Date Available	2014-07-18T18:41:36+00:00
Date Issued	2014-05-28
Degree Level	Bachelor's
Degree Name	Honors Bachelor of Science (H.B.S.)
Degree Field	Mechanical Engineering
Degree Grantor	Oregon State University
Commencement Year	2014
Advisor	Hurst, Jonathan
Non-Academic Affiliation	Oregon State University. Honors College
权利声明	In Copyright
Publisher	Oregon State University
Peer Reviewed	No
Language	English [eng]
Replaces	http://hdl.handle.net/1957/50600

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