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 7 of 7 for “"Legged Robotics"”.
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Trajectory Optimisation Inspired Design for Legged Robotics
Control of legged robots is a non-trivial task, especially when looking at aperiodic (non-steadystate) manoeuvres such as rapid acceleration and deceleration. Observing nature, animals are seen to effortlessly perform these rapid transient manoeuvres, however, robust walking is still considered a …
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A two-motor actuator for legged robotics applications
In many robotics and mechatronics applications, actuators must bear a large load at low speeds and also move at high speeds. A single geared motor with a fixed gear ratio is unable to cover the two extreme load conditions effectively. Here, I propose a dual-motor actuator made by combining two …
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Design of a Proprioceptive Actuator Utilizing a Cycloidal Gearbox
<p>Legged robotics creates the demand for high torque compact actuators able to develop high instantaneous torque. Proprioceptive actuator design theory is a design theory that removes the need for a torque feedback device and relies on the stiffness in the leg for absorbing the high Ground Impact …
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Leveraging Engineering Expertise in Deep Reinforcement Learning
… craft robust and performant control policies for legged robotics. However, the engineering processes to create these policies are often plagued by long training times that slow down engineering iteration. This thesis suggests that model-based controllers offer a wealth of successful computation …
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Battery Pack Design and Transient Performance Modeling for High-Power Legged Robots
Legged robotics has recently shifted toward advanced optimization-based control methods, such as Model Predictive Control (MPC), to generate agile and energy-efficient locomotion. By casting the control problem as an optimization task, robotic systems can account for complex robot dynamics and …
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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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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 …