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 22 for “"Bipedal Robot"”.
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Mechanical design of a simple bipedal robot
The thesis objective was to design a walking robot appropriate for testing a machine earning control system. As a robot that would learn how to walk, it was pre-maturely named Toddler. The passive dynamic walker, a class of simple robots driven by gravity and inertia, was selected as the model for …
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Bipedal robot walking control using human whole-body dynamic telelocomotion
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms
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Design of a bipedal robot for rapid acceleration and braking manoeuvres
… for such motions, a highly agile mechanical robot is required. The aim of this dissertation was to build a bipedal robot to perform optimal rapid acceleration manoeuvres. This focused on investigating existing robots and using the information therein to design, build and test a new bipedal …
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Investigating the effect of size on gait using a bipedal robot
Includes bibliographical references (leaves 157-168).
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A Two-DOF Bipedal Robot Utilizing the Reuleaux Triangle Drive Mechanism
This thesis explores the field of legged robots with reduced degree-of-freedom (DOF) leg mechanisms. Multi-legged robots have drawn interest among researchers due to their high level of adaptability on unstructured terrains. However, conventional legged robots require multiple degrees of freedom …
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Exploration of a data-driven walking controller for a large-scale bipedal robot with structural deformation
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-05-01
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Control and hardware design for a bipedal robot via planar modeling with empirical perception studies leveraging embodied movement analysis
… variable gait styles. That is why, developing bipedal robots is of interest for applications in human-facing settings. For the purpose of designing an expressive bipedal robot, this dissertation focuses on taking inspiration from the experiential understanding about human walking from the Basic …
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Control of a simulated, three-dimensional bipedal robot to initiate walking, continue walking, rock side-to-side, and balance
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2000.
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Humanoid robot dynamic synchronization via whole-body teleoperation with bilateral feedback
Despite remarkable recent advances in robotic research, legged machines are still far from robustly executing physical actions with comparable performance to humans. Yet, the potential applications for robots with such unique capabilities range from disaster response all the way to elderly care and …
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Movement theory inspired robot motion strategies and design of a bipedal walker
… movement behaviors are investigated for robot systems by modeling them as sequentially evolving state machines, motivated by choreographed human movements, where states define poses at particular instants. Here, tools from formal theory help in producing high-level movement behaviors by …
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Application of Product Design Concepts and Hybrid System Dynamics to Demonstrate Zeno Behavior and Zeno Periodic Orbits in a Physical Double Pendulum Setup
… considered in this thesis ? an anthropomorphic Bipedal walking robot and a Double Pendulum with a mechanical stop. The primary objectives of this project are to demonstrate the phenomena of Zeno and zeno periodic orbits in hybrid dynamic systems involving impacts. Initially, I describe the …
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Modifying the MIT Sensorimotor Control Lab model of human balance and gait control for the addition of running
… and testing that model by using it to control a bipedal robot. The results of this research help to prove the validity of the cerebrocerebello-spinomuscular control model developed by Jo and Massaquoi and point positively towards the introduction of the running of the control model on a physical …
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Learning contact-aware robot controllers from mixed integer optimization
… is central to the task of controlling a walking robot. Robots can only move through the world by exerting forces on their environment, and choosing where, when, and how to touch the world is the fundamental challenge of locomotion. Because the space of possible contacts is a high-dimensional mix …
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Experimental Study on the Mobility of Lightweight Vehicles on Sand
… that necessitate model development for robots with novel locomotion platforms and testing for lightweight wheeled and tracked vehicles so as to consider the adaptation of counterpart heavyweight terramechanics models for use. The third segment is a study of robots utilizing novel forms …
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In situ calibration for load cells in bipedal 3D printed robot utilizing Computer-Aided Design model
Load cells are very important components in a robot system. They help the robot to get feedback from the environment around it and generate control signals accordingly. However, like every other sensor, load cells need to be calibrated over time to maintain their accuracy and precision. In the …
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Real time evolutionary algorithms in robotic neural control systems.
… The system outlined here uses a Simulated Legged Robot as a test-bed and allows it to adapt to a changing Fitness function. An example of this in reality would be a robot walking from a solid surface onto an unknown surface (which might be, for example, rock or sand) while optimising its …
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Controlling Contact Transitions for Dynamic Robots
Legged robots, robotic manipulators, and their combined embodiment as humanoid robots have received considerable attention across both academia and industry. However, with few notable exceptions, state-of-the-art demonstrations are significantly less dynamic than their biological counterparts. A …
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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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Optimizing dynamic locomotion in Baleka II: from simulation to real-world running
… agility is a critical area of research in robotics due to its potential to enable versatile movement for various applications, including search and rescue missions. However, bipedal robots face significant challenges in achieving rapid movements, such as maintaining stability and agility. …
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Design principles of multi-axis, large magnitude force sensors based on stress fields for use in human and robotic locomotion
… that would empower the next generation of agile robots and smart shoes. The thesis introduces new design principles and methodologies for developing multi-axis, large magnitude force sensors based on stress fields to achieve these goals. Fabrication methods are presented for a monolithic …
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