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.
Results
Showing 1 to 4 of 4 for “"Push Recovery"”.
-
Standing Balance of Legged Robots: Leveraging Reduced Order Models to Improve Balancing Performance
… this proposed model to the existing models in push recovery simulations using two optimal control frameworks: trajectory optimization and a nonlinear model predictive control. We also examined the implementation of nonlinear model predictive controllers on a simulated one legged robot. With …
-
Optimization for control and planning of multi-contact dynamic motion
… of multiple simple models used for balancing and push recovery. Using the notions of barrier functions and occupation measures, we explicitly bound the set of disturbances from which a robot can recover by balancing or stepping. The primary contributions of this thesis are computational in nature, …
-
Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… in simulation, and compliant locomotion and push recovery are demonstrated in hardware. We discuss practical considerations that led to a successful implementation on the THOR hardware platform and conclude with an application of the presented control framework for humanoid firefighting …
-
Multi-step recovery strategy for humanoid robots using model predictive control
Made available in DSpace on 2019-08-23T20:36:13Z (GMT). No. of bitstreams: 2 MATIJEVICH-THESIS-2019.pdf: 1689446 bytes, checksum: c41c3a94a10006aa2ead403c11aebf8d (MD5) LICENSE.txt: 4213 bytes, checksum: 1306b3614c66f8a5b95ee47dcfc8aa21 (MD5) Previous issue date: 2019-04-26