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Showing 1 to 11 of 11 for “"Quadrupedal Locomotion"”.
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Tail use in bioinspired quadrupedal locomotion
Tails are seen in nature to be used in an amazing number of different applications. Many of these applications seen in nature may be of use to bioinspired roboticists in the future. I have provided a brief review of tail use as seen in nature. An experiment was performed using the MIT Cheetah to …
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Adaptive Predictive Controllers for Agile Quadrupedal Locomotion with Unknown Payloads
Quadrupedal robots play a vital role in various applications, from search and rescue operations to exploration in challenging terrains. However, locomotion tasks involving unknown payload transportation on rough terrains pose significant challenges, requiring adaptive control strategies to ensure …
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Design and control of a planar robot to study quadrupedal locomotion
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
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Real-Time Planning and Nonlinear Control for Robust Quadrupedal Locomotion with Tails
… the real-time planning and nonlinear control of quadrupedal locomotion such that the resulting gaits are robust to various kinds of disturbances. Specifically, this work addresses two scenarios. Namely, a quasi-static formulation in which an inertial appendage (i.e., a tail) is used to assist the …
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Design of Time-Varying Hybrid Zero Dynamics Controllers for Exponential Stabilization of Agile Quadrupedal Locomotion
… gaits for full-order hybrid dynamical models of quadrupedal locomotion. Unlike time-invariant nonlinear controllers, time-varying controllers do not rely on sensor data for gait phasing and can initiate locomotion from zero velocity. Motivated by these properties, we investigate the stability …
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Forelimb and hindlimb adjustments to treadmill speed during quadrupedal locomotion after a lateral spinal hemisection in adult cats.
The ability to attain and sustain moderately fast walking speeds is critically important for various locomotor tasks in animals, including humans. In animals, it is vital for survival, to capture prey or escape from predators and to find a mate. In humans, modulating walking speed is important for …
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Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback
… a minimal phase oscillator model for learning quadrupedal locomotion. Each of the four oscillators is coupled only to itself and its corresponding leg through local feedback of the ground reaction force, which we interpret as an observer feedback gain. The oscillator itself is interpreted as a …
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Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot
… presents a hierarchical control algorithm for quadrupedal locomotion. We address three challenges in developing a controller for high-speed running: locomotion stability, control of ground reaction force, and coordination of four limbs. To tackle these challenges, the proposed algorithm employs …
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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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Supernumerary Robotic Limbs for Next Generation Space Suit Technology
… and control algorithms are developed as a quadrupedal locomotion problem, where the SuperLimbs act as followers while the astronaut operator is the leader. Furthermore, the quadruped human-robot system enables multiple points of contact at any point in the EVA, creating a secure bracing …
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The Nuances of Locomotor Strategies in Suspensory Primates (Apes): Locomotor Costs in Terms of Skeletal Injury
… fracture patterns relative to variation in locomotion, ecology, and body mass among suspensory apes. Second, to quantify change in compact bone geometry associated with bone fracture and bone remodeling in suspensory apes.</p> <p>To obtain the first goal, fracture frequency, severity, and …