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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 61 for “"Legged Robots"”.
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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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Rapid acceleration of legged robots: a pneumatic approach
… in a multifaceted manner, they need to be both legged and agile. The legged constraint arises as many environments and systems in our world are tailored to ablebodied adults. Therefore, a practically useful robot would need to have the same morphology for maximum efficacy. For robots to be …
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Improved Friction and Dynamics Estimation in Legged Robots
… the dynamic MIT Humanoid and MIT Mini Cheetah robots significantly reduced torque prediction errors. The neural net was able to reduce torque errors by modeling both linear and non-linear effects that could not be easily fit by traditional methods. The results of this paper suggest that using …
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Real-Time Self-Collision Avoidance for Dynamic Legged Robots
… self-collisions is particularly challenging for legged robots, yet critical for them to avoid falling and damaging themselves. Unlike standard obstacle avoidance where the obstacles in the environment are relatively static, in self-collision avoidance the "obstacles" are the robot’s limbs which …
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Tailoring Complexity of Model-Based Controllers for Legged Robots
Humanoid robots promise human-like mobility, but must manage complex and often conflicting control objectives. While model-based controllers can address these challenges using online optimization, they have high computational demands. Model predictive control (MPC) provides closed-loop stability …
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Rapid computational design and simulation of highly dynamic legged robots
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-19 without embargo terms
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Using learning algorithms to develop dynamic gaits for legged robots
As more legged robots have begun to be developed for their obvious advantages in overall maneuverability and mobility over rough terrain and difficult obstacles, their shortcomings over flat terrain have become more apparent. These robots plod along at extremely low speeds even when the ground is …
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MASSIVELY DISTRIBUTED NEUROMORPHIC CONTROL FOR LEGGED ROBOTS MODELED AFTER INSECT STEPPING
… a massively distributed control architecture for legged robots composed of simulated physiological neuron and synapse models. Its structure is based on insect neurobiology. Each joint uses a unique central pattern generator (CPG) to produce oscillation. The CPGs in each leg cannot directly …
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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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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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Design and development of functional foot for agile and dynamic legged robots
… and machine learning techniques enable legged robots to move dynamically and agilely on the ground. However, the robots are still significantly restricted to accessing extreme terrains, such as steep hills and vertical walls, because of their lack of foot holding capability. In order to …
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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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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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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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The effect of friction in transmission components on the dynamics of legged robots
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-12-01
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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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