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 14 of 14 for “"Dynamic Walking"”.
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Transfer of support in a dynamic walking robot
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.
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Passive dynamic walking with knees : a point foot model
… cycle of the model has two phases of continuous dynamics: one with an unlocked knee configuration and a second one with a locked knee configuration. These stages are modeled as three-link and two-link pendulums correspondingly. The model switches between the two stages at knee-strike and …
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Learning control of bipedal dynamic walking robots with neural networks
… are two important performance requirements for a dynamic walking robot. Learning and adaptation can improve stability and robustness. This thesis explores such an adaptation capability through the use of neural networks. Three neural network models (BP, CMAC and RBF networks) are studied. The RBF …
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Lateral Movement of Unbraced Wood Composite I-Joists Exposed to Dynamic Walking Loads
… with different bracing configurations exposed dynamic walking loads. Three 16 in. deep GPI® 65 I-joists were simply supported and laid parallel to each other, while the bracing was attached to the top flange. Five different brace stiffnesses were used: zero stiffness (control), 1.2 lb/in., 8.5 …
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Gait Phase Estimation and Foot Trajectory Prediction During Dynamic Walking Using Gated Recurrent Units
… they often overlook critical transitions between walking and standing, which are essential for natural locomotion. We propose in this study a foot trajectory prediction approach which leverages a recurrent deep learning architecture to make predictions based on sequential walking data. The first …
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Design and experimental analysis of legged locomotive robots
… analysis of two previously well-studied dynamic-walking machines, the rimless wheel and the compass gait robot. These robots were the basis for my undergraduate research at the Computer Science/Artificial Intelligence Laboratory (CSAIL) at the Massachusetts Institute of Technology. The …
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Stability analysis and control for bipedal locomotion using energy methods
… the stability of limit cycles of passive dynamic walking. The formation process of the limit cycles is approached from the view of energy interaction. We introduce for the first time the notion of the energy portrait analysis originated from the phase portrait. The energy plane is spanned …
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Design and control of a clutch for a minimally-actuated biped based on the passive-dynamic simple walker
Passive-dynamic walking robots are remarkable mechanical devices capable of maintaining dynamically stable walking gaits with no actuation or control. These systems, however, depend on ideal environmental conditions for stability. Robustness and control capabilities are increased with actuation, …
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Applied optimal control for dynamically stable legged locomotion
… acquire 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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Genetically evolved dynamic control for quadruped walking
The aim of this dissertation is to show that dynamic control of quadruped locomotion is achievable through the use of genetically evolved central pattern generators. This strategy is tested both in simulation and on a walking robot. The design of the walker has been chosen to be statically …
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Human Inspired Robot Walking Pattern Planning
… 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 human …
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Design and control of supernumerary robotic limbs
… using powered tools, sitting/standing and dynamic walking. Finally, we developed an EMG-based control interface that enables users to voluntarily control the motion of the robotic limbs, without interfering with the posture of the rest of the body. The new augmentation technology presented …
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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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Geometric control and motion planning for three-dimensional bipedal locomotion
… for fast and energetically efficient bipedal dynamic walking in three-dimensional (3-D) space to enable motion planning applications that have previously been limited to inefficient quasi-static walkers. In order to produce exponentially stable hybrid limit cycles, we exploit system …