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 23 for “"Quadruped robot"”.
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Mechanical design of a quadruped robot
… and fabrication of the 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 …
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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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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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A low cost modular actuator for dynamic robots
… actuator, intended for use in highly 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 …
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Characterization of robotic tail orientation as a function of platform position for surf-zone robots
The Naval Postgraduate School Small Robot Initiative is an ongoing effort to develop autonomous robotic platforms for military applications. The latest design in this series, a quadruped robot with a tail for stability and obstacle climbing, is currently under development in collaboration with Case …
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Software and control design for the MIT Cheetah quadruped robots
… for the MIT Mini Cheetah and MIT Cheetah 3 robots. The open source software I developed is designed to provide a framework for other research groups to use the Mini Cheetah platform and is currently being used by seven other groups from around the world. The controllers I developed for this …
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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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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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Towards Reinforcement-Learning-based Robot Navigation with 3D Scene Graphs
… navigation has enormous potential in several robotics applications, including search and rescue operations. RL circumvents the need to manually specify a control policy for navigation and allows capturing aspects that are difficult to describe without relying on learning, e.g., that survivors …
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Policy regularized model predictive control framework for robust legged locomotion
… robust legged locomotion with the MIT Cheetah quadruped robot. The full system is approximated by a simple control model that retains the key nonlinearities characteristic to legged contact dynamics while reducing the complexity of the continuous dynamics. Nominal footstep locations and …
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Modeling and Control of a Planar Bounding Quadrupedal Robot
<p>Legged robots have the potential to be a valuable technology that provides agile and adaptive locomotion over complex terrain. To realize legged locomotion's full abilities a control design must consider the nonlinear piecewise dynamics of the systems. This paper aims to develop a controller for …
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Kinematic Modeling and Dynamic Aspects of an Accelerating Quadruped
Bio-inspired robotics engineers look to the natural world for clues to aspects of motion dynamics and morphologies that may be incorporated in the design of these robots. The mimicking and transfer of these aspects of a live subject to a modern day robot is limited by the technologies available …
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Design of a low-mass high-torque brushless motor for application in quadruped robotics
The Biomimetic 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 …
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Modeling and Control of a Vertical Hopping Robot
<p>Single degree-of-freedom hopping robots are typically modeled as spring loaded inverted pendulums (SLIPs). This simplified model, however, does not consider the overall leg geometry, consequently making it difficult to investigate the optimized inertial distribution of the leg for agile …
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Sample-based motion planning in high-dimensional and differentially-constrained systems
… planning algorithm implemented on LittleDog, a quadruped robot. The motion planning algorithm successfully planned bounding trajectories over extremely rough terrain.
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Real time evolutionary algorithms in robotic neural control systems.
… 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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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 legged …
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Rapid acceleration of legged robots: a pneumatic approach
For robotics to be useful to the public 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 …
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Safe Model Predictive Control for Robotic Manipulation and Locomotion
In last decades, robots have been increasingly used in a wide range of fields, including industrial automation and emerging applications from logistics to healthcare, agriculture and home assistance. Safe and high-performance control of robots is a crucial aspect of their deployment. Many …
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