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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 13 of 13 for “"Biped Robot"”.
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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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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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Human Inspired Robot Walking Pattern Planning
Development of full size 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 …
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A low cost modular actuator for dynamic robots
… actuator, intended for use in highly dynamic robots. A small 12 degree of freedom quadruped robot has built using these actuators, on which several control experiments have been performed. Despite the relatively low cost of the actuators, the quadruped has demonstrated unprecedented dynamic …
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A novel approach to user controlled ambulation of lower extremity exoskeletons using admittance control paradigm
The robotic lower extremity exoskeletons address the ambulatory problems confronting individuals with paraplegia. Paraplegia due to spinal cord injury (SCI) can cause motor deficit to the lower extremities leading to inability to walk. Though wheelchairs provide mobility to the user, they do not …
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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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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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Design and Implementation of Articulated Robotic Tails to Augment the Performance of Reduced Degree-of-Freedom Legged Robots
… the design, and implementation of articulated robotic tail mechanisms onboard reduced degree-of-freedom (DOF) legged robots to augment performance in terms of stability and maneuverability. Fundamentally, this research is motivated by the question of how to improve the stability and …
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Visual servo control on a humanoid robot
This thesis deals with the control of a humanoid robot based on visual servoing. It seeks to confer a degree of autonomy to the robot in the achievement of tasks such as reaching a desired position, tracking or/and grasping an object. The autonomy of humanoid robots is considered as crucial for the …
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Effects of geometry on compliant, stress field force sensor characteristics
… loading conditions. This work prioritizes robotic locomotion as the qualifying loading condition, with some considerations towards human locomotion. The stress field force sensors are comprised of a protected array of piezoelectric pressure sensor elements, embedded in an elastomer body. …
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Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls
… novel approach of an actuation system design for bipedal robotic walkers. The new actuation system concept is, to a certain extent, a biomimetic solution based on biological walkers. It consists of using elastic cables to actuate a bipedal walking robot, where the motors, which are used for …
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Hand control of bipedal balance in quiet standing: implementations for lower extremity exoskeleton
… even though it is challenging because of our bipedal structure. One of the main balance related disorders is paraplegia due to spinal cord injury. People with a complete spinal cord injury have motor and sensory impairment that greatly reduces the ability to move their lower extremities. In …
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Towards bio-transcending legged robots: Design and development of novel robotic platforms for enhanced locomotion
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2025-12-01