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 28 for “"Center of Mass (COM)"”.
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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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Kinematic variations between successful and unsuccessful dynamic rock climbing movements
… in popularity in recent years. Claims of best technique for rock climbing have been made in guide books, but are unsubstantiated. Specific upper body characteristics, determinants of climbing skill, and injury prevalence have been evaluated, but research examining climbing-specific …
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Backpack Energy Harvester with Human Walking Model
The objective of this thesis is to design, analyze, and fabricate an 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 …
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Effects of Obesity on Balance Recovery in Response to Small Postural Perturbations
… health concern associated with an increased risk of falls. The majority of falls are thought to result from some kind of postural perturbation, yet the biomechanical mechanisms as to why obese individuals fall more often is unclear. Therefore, the goal of this study was to investigate the effects …
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Biomechanical Evaluation of Lumbar Extensor Fatigue Effects on the Postural Control System
Falls from heights are the fourth leading cause of occupational injury and fatality in the United States. In particular, construction workers such as roofers are often exposed to high risk environments. Recent research has reported that a leading cause of falls among workers is a loss of balance. …
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Mixed-integer convex optimization for planning aggressive motions of legged robots over rough terrain
… entails addressing both the continuous question of how its joints should move and the combinatorial question of which hand or foot should touch which surface and in what order. Fortunately, these two questions are linked by the centroidal dynamics of the robot, which we can express either in …
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ALTERATIONS IN POSTURAL CONTROL FOLLOWING AN ACUTE BOUT OF SOCCER HEADING
This study sought to determine if an acute bout of soccer heading adversely altered postural control and pronounced self-reported symptoms of cerebral concussion. Sixteen collegiate soccer players were randomly assigned to one of two groups: control (CG) or experimental (EG). Participants either …
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Understanding Mediolateral Stability During Gait in Persons with Early-Stage Multiple Sclerosis
Background: Among the most common and disabling symptoms associated with multiple sclerosis (MS) are problems with balance, during both stance and gait. Balance during gait is highly dependent on stability in the mediolateral (M-L) direction. It is currently unknown how M-L stability is affected in …
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Appropriately complex biomechanical modelling of distance running
Mathematical models of human movement have the potential to provide information about how and why humans move the way they do. However, due to the existing gap between the current simple and complex models of running, it is unclear as to the level of complexity required to model normal distance …
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The role of flexibility on propulsive performance of flapping fins
The versatility of the fish to adapt to diverse swimming requirements has attracted the attention of researchers in studying bioinspired propulsion for developing efficient underwater robotics. The tail/caudal fin is a major source of thrust generation and is believed that the fish modulates its …
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Design and Development of a Novel Reconfigurable Wheeled Robot for Off-Road Applications
… with high speed in rough terrain is one of the most challenging tasks for wheeled robots. To achieve mobility over this terrain, a high agility wheeled robot should adapt and react fast to optimally traverse this challenging environment. Therefore, this dissertation is geared towards the …
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The Use of Trunk-Mounted Accelerometers for Neurmuscular Testing in Collegiate Women's Soccer
… fixed at the scapulae for the quantification of athlete performance. Similar IMU are used in clinical settings for gait analysis and jump testing but are located at the center of mass (COM). For clinical methods of jump and gait analysis to be translated to sports related IMU, an investigation …
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… both speed and stability. To advance the state of the art, this dissertation presents a complete dynamic locomotion and whole-body control framework for compliant (torque-controlled) humanoids. We develop low-level, mid-level, and high-level controllers to enable low-impedance balancing and …
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Visual-Oculomotor and Head Movement Strategies in Postural Control
Postural control requires the integration of visual, vestibular, and proprioceptive information to maintain stability. The gold standard for inferring postural control relies on lab-based tools, such as force plates and full-body motion capture to track center of mass (COM) and center of pressure …
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Determination of grain-level strain and proposing a new method of strain determination for three dimensional x-ray diffraction (3DXRD)
… strain determination is proposed for analysis of three dimensional x-ray diffraction (3DXRD) data. Our objective is to establish a correspondence between lattice strain and change of diffraction spot position in $\omega$ ($\omega$ is the rotation angle about the loading axis for 3DXRD …
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Experimental and simulation-based assessment of the human postural response to sagittal plane perturbations with localized muscle fatigue and aging
Falls from heights (FFH) are one of the leading causes of fatalities in skilled labor divisions such as construction, mining, agriculture/forestry, and manufacturing. Previous research has established that localized muscle fatigue (LMF) increases center of mass (COM)- and center of pressure …
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X-ray motion analysis of charge particles in a laboratory mill
The work reported herein is of an automated X-ray vision system used to track the 3D trajectories of a typical bulk charge particle within an experimental Perspex mill, the intention of which is to simulate the grinding motion of rock found in typical industrial mills The experimental rig is …
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Real-Time Planning and Nonlinear Control for Robust Quadrupedal Locomotion with Tails
… the real-time planning and nonlinear control of quadrupedal locomotion such that the resulting gaits are robust to various kinds of disturbances. Specifically, this work addresses two scenarios. Namely, a quasi-static formulation in which an inertial appendage (i.e., a tail) is used to assist …
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The Effects of Transitioning Between Different Floor Surfaces on Gait Characteristics of the Elderly
Each year the rate of slip and fall accidents increases among older individuals. Most falls among the elderly occur indoors rather than outdoors, and of the falls that occur in the residential home, over 600,000 are due to floor covering materials. In particular, carpet and vinyl are common floor …
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Understanding the body’s kinematic/kinetic responses and motor adaptation to unpredictable gait perturbation induced by a split-belt treadmill in young and older adults
Falls are one of the major leading causes of death for the elderly, and the number of fall-related deaths has been increasing with a steadily increased older population in the USA. Falls result in physical injuries and psychological injuries, which affect the quality of life in older adults. …
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