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 13 of 13 for “"Bipedal Robots"”.
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Development and Characterization of an Interprocess Communications Interface and Controller for Bipedal Robots
As robotic systems grow in complexity, they inevitably undergo a process of specialization whereby they separate into an array of interconnected subsystems and individual processes. In order to function as a unified system, these processes rely heavily on interprocess communications (IPC) to …
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Optimizing dynamic locomotion in Baleka II: from simulation to real-world running
… including search and rescue missions. However, bipedal robots face significant challenges in achieving rapid movements, such as maintaining stability and agility. This dissertation presents the development of Baleka II, a bipedal robot designed to overcome these challenges by achieving rapid …
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Mechanical engineering challenges in humanoid robotics
Humanoid robots are artificial constructs designed to emulate the human body in form and function. They are a unique class of robots whose anthropomorphic nature renders them particularly well-suited to interact with humans in a world designed for humans. The present work examines a subset of the …
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Robust bipedal locomotion on unknown terrain
A wide variety of bipedal robots have been constructed with the goal of achieving natural and efficient walking in outdoor environments. Unfortunately, there is still a lack of general schemes enabling the robots to reject terrain disturbances. In this thesis, two approaches are presented to …
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Standing Balance of Legged Robots: Leveraging Reduced Order Models to Improve Balancing Performance
Legged robots have the potential to traverse remote or dangerous areas by utilizing intermittent ground contact to navigate through complex terrain. Despite their promise, legged robots, specifically bipeds, are inherently unstable and fail to operate reliably in unstructured environments. This …
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Design and implementation of series elastic actuation in a biomorphic robot leg
Fluid, efficient, robust bipedal locomotion is hard by some approaches. Today's most advanced bipedal robots require flat and level floors, but are still prone to trips and falls. They have trouble interacting with objects in their surroundings, and adapting to them. We think that new approaches …
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Composing motion primitives under disturbances: a switched systems approach
Robots operating in the real world are expected to encounter a wide range of exogenous input signals due to contact or other types of interaction with a possibly time-varying, stochastic environment. Depending on the task, external signals may represent commands that need to be followed or …
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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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Machine Learning Simulation: Torso Dynamics of Robotic Biped
Military, Medical, Exploratory, and Commercial robots have much to gain from exchanging wheels for legs. 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 …
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Natural, Efficient Walking for Compliant Humanoid Robots
Bipedal robots offer a uniquely flexible platform capable of navigating complex, human-centric environments. This makes them ideally suited for a variety of missions, including disaster response and relief, emergency scenarios, or exoskeleton systems for individuals with disabilities. This, …
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Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
… two characteristics can aid in the control of bipedal robots. Inherent robustness allows for the use of simple, low impedance controllers. Natural dynamics reduces the requirements of the controller. We present a series of simple physical models of bipedal walking. The insight gained from these …
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Design of a Novel Tripedal Locomotion Robot and Simulation of a Dynamic Gait for a Single Step
Bipedal robotic locomotion based on passive dynamics is a field that has been extensively researched. By exploiting the natural dynamics of the system, these bipedal robots consume less energy and require minimal control to take a step. Yet the design of most of these bipedal machines is inherently …
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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