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 11 of 11 for “"Dynamic Locomotion"”.
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… 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 walking on compliant and uneven terrain. For low-level …
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Optimizing dynamic locomotion in Baleka II: from simulation to real-world running
In the field of legged locomotion, 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 …
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Modeling, system identication, and control for dynamic locomotion of the LittleDog robot on rough terrain
… relies on an accurate planar model of the dynamics, which I assembled from a model of the motors, a rigid body model, and a novel physically-inspired ground interaction model, and then identied using a series of physical measurements and experiments. I then used the RG-RRT algorithm on the …
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Design and Integration of a Novel Robotic Leg Mechanism for Dynamic Locomotion at High-Speeds
… the other is a result of the complex nature of dynamic legged locomotion. The underlying dynamics of this class of non-linear systems must be addressed in order to develop systems that perform natural human/animal-like locomotion. However, there are no stringent rules for the number of DOFs in a …
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Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot
… a hierarchical control algorithm for quadrupedal locomotion. We address three challenges in developing a controller for high-speed running: locomotion stability, control of ground reaction force, and coordination of four limbs. To tackle these challenges, the proposed algorithm employs three …
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Mechanical design of a quadruped robot
… of the loading conditions required for dynamic locomotion. The design of the mechanical system was refined using FEA and bench level calculations. This thesis documents drop tests and hopping experiments that were performed with the first quadruped prototype.
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Permanent Magnet Synchronous Motors: Nonlinear Dynamic Modeling, Hardware Characterization, and High-Bandwidth Torque Control for Applications in Dynamic Robotics
… algorithms that are responsible for achieving dynamic locomotion in legged robots depend on accurate torque production for matching real-life performance with simulated performance. To achieve accurate torque production, actuators must run high-bandwidth, low-level torque control. Developing …
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Learning Legged Locomotion by Physics-based Initialization: Motion Imitation from Model-Based Optimal Control
… Control. MIMOC is a Reinforcement Learning (RL) locomotion controller that learns agile locomotion by imitating reference trajectories from model-based optimal control. MIMOC mitigates challenges faced by other motion imitation-based RL approaches because the generated reference trajectories are …
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Study of the compliance and system integration of bistable structures for use as actuation mechanisms in bioinspired adaptive systems
… into a system model of a crawling robot. A dynamic locomotion model for an origami-enabled robot is developed from an energy analysis of the mechanical robot components. The results of the dynamic model are compared to a kinematic model of the robot and the experimentally measured locomotion …
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Investigation of Standing Up Strategies and Considerations for Gait Planning for a Novel Three-Legged Mobile Robot
… mobile robot STriDER (Self-excited Tripedal Dynamic Experimental Robot); how to stand up after falling down while minimizing the motor torques at the joints and considerations for gait planning. STriDER uses a unique tripedal gait to walk with high energy efficiency and has the ability to …
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Effects of geometry on compliant, stress field force sensor characteristics
… 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. The …