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 29 for “"Bipedal Walking"”.
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Dynamic bipedal walking assisted by learning
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
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Blind bipedal walking on rough terrain
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1995.
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Robust execution of bipedal walking tasks from biomechanical principles
… A challenging example of such a robot is a bipedal walking machine. Such a robot should be able to walk to a particular location within a particular time, while observing foot placement constraints, and avoiding a fall, if this is physically possible. Although stable walking machines have …
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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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The Mechanics and Influence of the Foot-Ground Interaction During Bipedal Walking
… interaction of the foot with the ground while walking bipedally in our environment. Specifically, this dissertation examines the mechanics of the foot-ground interaction during walking outside of the confines of the laboratory and the link between this foot-ground interaction and the energetic …
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Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
Walking is an easy task for most humans and animals. Two characteristics which make it easy are the inherent robustness (tolerance to variation) of the walking problem and the natural dynamics of the walking mechanism. In this thesis we show how understanding and exploiting these two …
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Knee design for a bipedal walking robot based on a passive-dynamic walker
… more work is required in order to optimize his walking. In order to study the dynamics of walking with knees, we also built a copy of McGeer's original passive walker with knees.
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Hierarchical neural control of human postural balance and bipedal walking in sagittal plane
… 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 a …
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Stable locomotion control of bipedal walking robots : synchronization with neural oscillators and switching control
… and switching control) are studied for achieving bipedal locomotion stability. Postural stability is realized by structural dynamics shaping, and gait stability is achieved by synchronization with neural oscillators and switching control. A biologically inspired control with neural oscillators …
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NPL : a graphical programming language for motor control and its application to bipedal walking
Current methods for bipedal walking control include playback of recorded joint motion and the derivation of dynamic equations to map desired forces at the body to the required torques at the joints. Both methods require a significant amount of up-front knowledge about the structure and …
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Bipedal Walking for a Full Size Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption
… robots, and to research a simple but reliable bipedal walking method. Since the debut of Wabot from Waseda University in 1973, several full-sized humanoid robots have been developed around the world that can walk, and run. Although various humanoid robots have successfully demonstrated their …
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Theory and Application of Reward Shaping in Reinforcement Learning
… two applications: a stochastic gridworld, and a bipedal walking control task. In all cases, the experiments uphold the analytical predictions; most notably that reducing the reward horizon implies faster learning. The bipedal walking task demonstrates that our reward shaping techniques allow a …
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Backpack Energy Harvester with Human Walking Model
… innovative backpack energy harvester for human walking. To model human walking with backpack energy harvester, a simple dual-mass model has been developed and studied first. Dual-mass model for three types of distinct harvesters were investigated, pure damping, traditional rack pinion energy …
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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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Design, construction, and experiments with a compass gait walking robot
… is necessary. In this thesis a human scale, free walking, planar bipedal walking robot is designed and several of these new control techniques are tested. These include system identification via simulation error optimization, simulation based LQR-Trees, and transverse stabilization of …
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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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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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ON THE METABOLIC AND MECHANICAL DEMANDS OF WALKING: THE EFFECTS OF SLIDING FRICTION, LIMB SWING WORK, AND BOUT DURATION.
… are linked. The first study investigates walking in a virtual reality emulator, where participants slide their feet on the surface of a multidirectional treadmill. In this gait, mechanical work is required to overcome sliding friction, and the metabolic cost is hence relevantly greater …
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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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Applied optimal control for dynamically stable legged locomotion
… a robust feedback control policy for 3D dynamic bipedal walking from a blank slate using only trials implemented on the physical robot. The robot begins walking within a minute and learning converges in approximately 20 minutes. The learning works quickly enough that the robot is able to …
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