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 21 for “"Legged Robot"”.
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Metastable legged-robot locomotion
A variety of impressive approaches to legged locomotion exist; however, the science of legged robotics is still far from demonstrating a solution which performs with a level of flexibility, reliability and careful foot placement that would enable practical locomotion on the variety of rough and …
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Autonomous Behaviors With A Legged Robot
… have made it a real possibility for a legged robotic platform to traverse a diverse set of terrains and execute a variety of tasks on its own, with little to no outside intervention. However, there are still several technical challenges to be addressed in order to reach complete …
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Control of Rapid Acceleration in a Planar Legged Robot
… hardware and control design of Kemba: a planar legged robot intended for investigating bounding and explosive, agile manoeuvres. The robot incorporates both pneumatically actuated knees for powerful, compliant, and impact resistant actuation, and proprioceptive electric actuators at the shoulder …
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Optimization-based control and planning for highly dynamic legged locomotion in complex environments
Legged animals can dynamically traverse unstructured environments in an elegant and efficient manner, whether it be running down a steep hill or leaping between branches. To harness part of the animal agility to the legged robot would unlock potential applications such as disaster response and …
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Hyperredundant Dynamic Robotic Tails for Stabilizing and Maneuvering Control of Legged Robots
High-performing legged robots require complex spatial leg designs and controllers to simultaneously implement propulsion, maneuvering and stabilization behaviors. Looking to nature, tails assist a variety of animals with these functionalities separate from the animals' legs. However, prior research …
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Biologically-plausible six-legged running : control and simulation
… run in a simulated twelve degree of freedom six-legged robot. The algorithm is relatively simple; it consists of only a few hand-tuned feedback loops and is defined by a total of 13 parameters. The control utilizes no vestibular-type inputs to actively control orientation. Evidence from …
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Standing Balance of Legged Robots: Leveraging Reduced Order Models to Improve Balancing Performance
Legged robots have the potential to traverse remote or dangerous areas by utilizing intermittent ground contact to navigate through complex terrain. Despite their promise, legged robots, specifically bipeds, are inherently unstable and fail to operate reliably in unstructured environments. This …
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Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots
… variables and constraints being used in legged robot trajectory optimization using DFG. In chapter 2 I will explain DFG’s and the challenges working with them as a whole body motion plan- ning framework. In chapter 3 I will present a novel formulation of kinematic chains as monoids, which …
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The evolution of modular artificial neural networks.
… on Incremental Evolution. A simulated model of a legged robot was used as a test-bed for the approach. The algorithm starts with a simple robotic body plan. This then grows incrementally in complexity along with its controlling neural network and the environment it reacts with. The network grows …
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Design of a high torque density modular actuator for dynamic robots
When designing new control systems for dynamic robots, differences between simulated and real-world physics can cause the robot hardware to experience a significant amount of misuse, often leading to downtime as hardware is continuously repaired and improved. The MIT Biomimetic Robotics Lab aimed …
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Real time evolutionary algorithms in robotic neural control systems.
… set). The system outlined here uses a Simulated Legged Robot as a test-bed and allows it to adapt to a changing Fitness function. An example of this in reality would be a robot walking from a solid surface onto an unknown surface (which might be, for example, rock or sand) while optimising its …
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Learning Legged Locomotion by Physics-based Initialization: Motion Imitation from Model-Based Optimal Control
The development of legged robots capable of navigating in and interacting with the world is quickly advancing as new methods and techniques for sensing, decisionmaking, and controls expand the capabilities of state-of-the-art systems. Model-based methods, empowered by greater computing capacity and …
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Mixed-integer convex optimization for planning aggressive motions of legged robots over rough terrain
Planning dynamic motions for a legged robot 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 …
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Novel Legged Robots with a Serpentine Robotic Tail: Modeling, Control, and Implementations
… and application scenarios, most existing legged robots do not include a robotic tail on board. This research aims to explore the possibilities of adding this missing part on legged robots and investigate the tail's functionalities on enhancing the agility, dexterity, and versatility of …
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Considerations for and Implementations of Deliberative and Reactive Motion Planning Strategies for the Novel Actuated Rimless Spoke Wheel Robot IMPASS for the Two-Dimensional Sagittal Plane
IMPASS is a novel spoke-wheel robot invented by researchers at the Robotics and Mechanisms Lab (RoMeLa) at Virginia Tech. The robot is driven by a rimless spoke wheel which can alter the length of any given spoke in the hub. This form of novel locomotion combines the efficiency of a wheeled robot …
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Decentralization and Hierarchical Organization for Control of Adaptive and Cognitive Behavior in Autonomous Robots
… of processes in one control system for a six-legged robot. On the one hand, adaptive behavior emerges from interaction of simple local control modules which allows the system to react quickly when facing disturbances. Detailed experimental findings in insects suggests that this evolved …
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Understanding preferred leg stiffness and layered control strategies for locomotion
<p>Despite advancement in the field of robotics, current legged robots still cannot achieve the kind of locomotion stability animals and humans have. In order to develop legged robots with greater stability, we need to better understand general locomotion dynamics and control principles. Here we …
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Design Of Proprioceptive Legged Robots
… since the advent of the first power-autonomous legged robots, yet they have still not yet been deployed at scale. One fundamental challenge in legged machines is that actuators must perform work at relatively high speed in swing but also at high torque in stance. Legged machines must also be …
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Design and Implementation of Articulated Robotic Tails to Augment the Performance of Reduced Degree-of-Freedom Legged Robots
… the design, and implementation of articulated robotic tail mechanisms onboard reduced degree-of-freedom (DOF) legged robots to augment performance in terms of stability and maneuverability. Fundamentally, this research is motivated by the question of how to improve the stability and …
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Investigation of Standing Up Strategies and Considerations for Gait Planning for a Novel Three-Legged Mobile Robot
… important issues when operating the novel three legged 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 …
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