Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 50 for “"Biped"”.
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Performativities, Virtualities, Abstractions, and Cunningham's BIPED
… extracts from Merce Cunningham's choreography BIPED (1999). The central aim of the study is to formulate a performative phenomenological inquiry, which moves beyond an identification of essences, and towards an understanding of the lived experience of a dance performance as being grounded on …
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Passivity Based Control of Biped Robots
Made available in DSpace on 2017-07-06T18:42:27Z (GMT). No. of bitstreams: 3 Bhatia_Gagandeep_S_MS.pdf: 53211686 bytes, checksum: 5cfc575123a9339aa4081c17dc153260 (MD5) Bhatia_Gagandeep_S_MS_ABS.pdf: 595231 bytes, checksum: a4d593e392b057308a22432f921ff584 (MD5) license.txt: 4813 bytes, checksum: …
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Biped walking trajectory design and stabilization
Biped robot locomotion has been studied intensively for many decades, and one of the most challenging topics of study is the dynamic motion of the biped robot. This thesis will utilize the zero-moment point (ZMP) along with a simplified dynamics model, the linear inverted pendulum model (LIPM), to …
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Biped robot with a vestibular system
The kinematics and dynamics of two legged or biped walking is considered. The resulting governing equations include actuator torques for a robot and muscle generated torques for a human. These torques are those necessary at each joint of a leg, including the foot, for a successful stride. The …
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Design of a humanoid biped for walking research
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
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Virtual model control of a biped walking robot
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1995.
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Machine Learning Simulation: Torso Dynamics of Robotic Biped
… However, the equations of motion of dynamic bipedal walker models are highly coupled and non-linear, making the selection of an appropriate control scheme difficult. A temporal difference reinforcement learning method known as Q-learning develops complex control policies through environmental …
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ACTIVE HIP ACTUATION FOR WALKING BIPED WITH PASSIVE OPTION
Biped robots are desired as the ideal solution over wheel vehicles when traversing over rough terrain due to the simplicity and efficiency when mimicking the natural and dynamic motion of a human gait. The Intelligent Systems and Automation Laboratory (ISAL) at the University of Kansas designed and …
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Blind walking of a planar biped on sloped terrain
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998.
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Biped walking control design based on zero moment point dynamics
Biped walking control for humanoid robots has been a challenging yet promising research topic in the past decades. The complicated nonlinear dynamics and numerous degrees of freedom are the main obstacles for biped walking control. This thesis studies the complete control scheme of biped walking …
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Trajectory Tracking of a Statically-stable Biped with Two Degrees of Freedom
… the possibility of controlling a simple biped having two degrees of freedom only. The biped robot walked on large feet. Having large feet enabled the robot to stand on one leg stably. At any time, the robotà Âs center of gravity remained above the area covered by one of the feet. Two …
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A computer simulation study of a single rigid body dynamic model for biped postural control.
Existing kinematics models for humans cannot simulate movement beyond geometric constraints. On the other hand, complex dynamics models are computationally expensive for real time computer graphics applications in Virtual Environments(VE). To be able to create a more realistic, real time, and …
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Design and control of a clutch for a minimally-actuated biped based on the passive-dynamic simple walker
… of the clutch device and the hip-actuated biped on with which the clutch is tested, and evaluates the performance of intermittent clutch-control for several control strategies.
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Learning control of bipedal dynamic walking robots with neural networks
… This system is applied successfully in a biped walking robot system with a supervised learning mode. Generalized Virtual Model Control (GVMC) is also proposed in this thesis, which is inspired by a bio-mechanical model of locomotion, and is an extension of ordinary Virtual Model Control. …
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A novel approach to user controlled ambulation of lower extremity exoskeletons using admittance control paradigm
… haptic and visual feedback. A 10 DOF 1/2 scale biped robot was built to test the control paradigm. The robot has 5 DOF on each leg with 2 DOF at the hip to provide flexion/extension and abduction/adduction, 1 DOF at the knee to provide flexion and 2 DOF at the ankle to provide flexion/extension …
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Composing motion primitives under disturbances: a switched systems approach
… is particularized to dynamically-stable bipedal robots that ambulate through periodic interactions with their environment. The biped is modeled as a system with impulsive effects (SIE), a sub-class of hybrid systems, and the gait is modeled as an exponentially stable periodic limit cycle …
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Hierarchical neural control of human postural balance and bipedal walking in sagittal plane
… of sagittal planar human postural balance and biped walking to 1) investigate an explicit mechanism of the cerebrocerebellar and other related neural systems, 2) explain the principles of human postural balancing and biped walking control in terms of the central nervous systems, and 3) provide …
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Human Inspired Robot Walking Pattern Planning
… humanoid robots can be simplified along with the bipedal walking formulation methods. These robots consist of rigid bodies connected with actuated joints supposed to mimic human like walking. Although many researchers have tackled the problem of bipedal dynamic walking, it is far from matching …
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A low cost modular actuator for dynamic robots
… system and a 6 degree of freedom lower-body biped robot.
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