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 57 for “"Quadruped"”.
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Design of robotic quadruped legs
Prized for their performance on prepared surfaces, wheeled vehicles are often limited in mobility by rough and unstructured terrain. Conversely, systems that rely on legs have shown promising rough terrain performance but only a modest ability to achieve high speeds over flat terrain. The goal of …
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Mechanical design of a quadruped robot
… Super Mini Cheetah (SMC) robot, a small ( 9kg) quadruped that is capable of jumping, bounding and trotting. The robot is designed using commercially available components and rapid prototyping methods, resulting in a low-cost, replicable and modifiable platform capable of force, position, or …
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Genetically evolved dynamic control for quadruped walking
… dissertation is to show that dynamic control of quadruped locomotion is achievable through the use of genetically evolved central pattern generators. This strategy is tested both in simulation and on a walking robot. The design of the walker has been chosen to be statically unstable, so that …
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Kinematic Modeling and Dynamic Aspects of an Accelerating Quadruped
… is formulated and coded specifically for the quadruped robot that produces estimates of the relative link angles, a base link length and trajectory of a reference point so that a three dimensional configuration evolution of the system is rendered. A secondary consideration is the deployment of …
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Policy search approaches to reinforcement learning for quadruped locomotion
… problem for machine learning to solve. A quadruped has 12 degrees of freedom which results in a large state space for the resulting Markov Decision Problem (DP). It is too difficult for computers to completely learn the state space, while it is too difficult for humans to fully understand …
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Real-time quadruped gait controller for rough terrain locomotion
… However, a humanoid that can transform into a quadruped for locomotion, such as MIT Biomimetic Robotics Lab's HERMES, adds the stability of a four-legged gait to safely traverse this dangerous landscape. This thesis investigates a trotting gait controller for use on HERMES specifically on rough …
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Design of a quadruped walking robot for social interaction
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.
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Software and control design for the MIT Cheetah quadruped robots
… model and was the first backflip done on a quadruped robot.
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Locomotion experiments on a planar quadruped robot with articulated spine
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1996.
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Decoupled Kinodynamic Planning for a Quadruped Robot over Complex Terrain
… formulations. Implemented in simulation for a 2D quadruped robot, our novel formulation is shown to generate trajectories in less than 15\% of the computation time needed for traditional, coupled planning methods. Furthermore, experiments demonstrate that our method maintains a consistent average …
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Additively Manufactured Open-Source Quadruped Robots for Multi-Robot SLAM Applications
… presents the design and development of the quadruped robot Squeaky, created as a research and learning platform for single and multi-robot simultaneous localization and mapping (SLAM), computer vision, and reinforcement learning. Affordable robots are increasingly essential for scaling from …
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Design of a low-mass high-torque brushless motor for application in quadruped robotics
… Group is attempting to build the fastest quadruped robot powered by electromagnetic means. The limitations in achieving this goal are the torque produced from motors used to power the robot, as well as the mass and power dissipation of these motors. These limitations formulate the need for …
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Enhancing Quadruped Robot Design With Intelligent Physics-Informed Neural Network-Assisted Dynamic State Estimation and Active Spine Integration
This dissertation represents my master's work on quadrupedal robot systems at the Autonomous System Laboratory, University of Nevada, Reno. It primarily focuses on the intelligent design of quadruped robots and unmanned vehicles. The intelligence in these designs stems from advanced state …
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Design of Robots for Unstructured Environments - A Customisable Agile Quadruped, a Sensorised High-Force Gripper, and an Intelligent Drilling End-Effector
… introduced, with the purpose of advancing agile quadrupedal locomotion, high-force grasping, and robotic power drilling. The first device is Leon, an agile quadruped designed from commercial actuators, eliminating the need for actuator development while retaining full access to the platform’s …
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A low cost modular actuator for dynamic robots
… dynamic robots. A small 12 degree of freedom quadruped robot has built using these actuators, on which several control experiments have been performed. Despite the relatively low cost of the actuators, the quadruped has demonstrated unprecedented dynamic behaviors for a robot of this scale and …
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Learning Robust Terrain-Aware Locomotion
Today’s robotic quadruped systems can walk over a diverse set of natural and complex terrains. Approaches to locomotion based on model-based feedback control are robust to perturbations but cannot easily incorporate visual terrain information. Meanwhile, approaches to locomotion based on learning …
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Computer-Based Animation of an Articulated Body
… and Simulation. A methodology for modelling quadruped gaits and gait transitions based on Fourier series analysis of horse movement is proposed. The methodology has been used to define a generic rotoscoped model for movement, which although developed from horse movement data, could be …
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Design of a high torque density modular actuator for dynamic robots
… Mini Cheetah, a low cost, mechanically robust, quadruped that was capable of tolerating the strains of testing new legged robot controls. One of the key design features of the Mini Cheetah that allows it to have minimized repair time compared to other dynamic robots is its use of the same …
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Safe Model Predictive Control for Robotic Manipulation and Locomotion
… generating versatile and stable locomotion for quadruped robots. In full-body dynamics MPC, reference trajectories are typically provided for the Center of Mass of the robot and swing feet. These references may limit the robot's adaptability to unforeseen situations. We propose a novel …
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Supernumerary Robotic Limbs for Next Generation Space Suit Technology
… human-robotic system that can be modeled as a quadruped with two human arms and two SuperLimb grippers. Trajectory planning and control algorithms are developed as a quadrupedal locomotion problem, where the SuperLimbs act as followers while the astronaut operator is the leader. Furthermore, …
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