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 9 of 9 for “"Hopping Robot"”.
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Uniroo--a one legged dynamic hopping robot
Thesis (B.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1991.
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Modeling and Control of a Vertical Hopping Robot
<p>Single degree-of-freedom hopping robots are typically modeled as spring loaded inverted pendulums (SLIPs). This simplified model, however, does not consider the overall leg geometry, consequently making it difficult to investigate the optimized inertial distribution of the leg for agile …
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Recovering elastic energy in a single-legged hopping robot
Robots that mimic animal locomotion may be improved by the addition of compliant parts. A proposed metric for the importance of compliance in an animal gait is Ek/Ein, the ratio of the systems peak kinetic energy to the energy input into it over one gait cycle. In this project, I create an …
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Design and fabrication of a two degree-of-freedom hopping robot with parallel architecture using linear Lorentz-force actuators
… presents the design and fabrication of a 2-DOF robotic leg using linear Lorentz-force actuators arranged in a parallel configuration. The decision to use linear actuators, a parallel architecture, and Lorentz-force motors was made because of distinct differences between these designs and the …
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Discrete-time observers for inertial navigation systems
… the head orientation of a simulated planar hopping robot, where the information provided by the observer is used for head stabilization and obstacle jump.
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A methodology to quantify risk of failure for dynamic robots
… stop. This capability is not yet available to robots, fundamentally because there is no clear metric that represents the quantified risk of failing. Possessing such a metric would allow robots to explore their dynamic capability up to their physical limitations. This thesis attempts to address …
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Applied optimal control for dynamically stable legged locomotion
… will be an essential component for legged robots in the next few years as they begin to leave the laboratory setting and join our world. I present the first example of a learning system which is able to quickly and reliably acquire a robust feedback control policy for 3D dynamic bipedal …
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Mobility feasibility of fuel cell powered hopping robots for space exploration
Small hopping robots have been proposed that offer the potential to greatly increase the reach of unmanned space exploration. Using hopping, bouncing, and rolling, a small spherical robot could access and explore subterranean areas, such as craters and caves, on distant planets. Hopping mobility …