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 13 of 13 for “"Quadrupeds"”.
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Deep reinforcement learning for quadrupeds
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms
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Characterization of gait energetics for electrically actuated quadrupeds
… the first such study across gaits for robotic quadrupeds in the design paradigm of the MIT Cheetah. With the prototype model, we have found that it is energetically optimal to tend towards impulsive ground reaction forces on rigid terrain. Adding compliance at the contact interface lowers the …
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Expanding the Capabilities of Dynamic Robotic Systems
… platforms including manipulators, humanoids and quadrupeds developed with these systems are presented and initial results with new control architectures that push the systems to the limit are shown.
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Harness Electricity, Free the Mules: Animal Rights and the Electrification of the Streetcars in New Orleans
… in the late 1800s, equines pulled the cars. The quadrupeds that pulled the horsecars in New Orleans, Louisiana, were area specific: New Orleans had mules, not horses. The mule in the South is typically associated with the rural South; however, in nineteenth century urban New Orleans the mule …
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Mechanical design of a Stewart platform-based crawling vehicle
… but do so with greater stability than bipeds or quadrupeds. This thesis presents a design for a caterpillar-like crawling vehicle. An overview of the effort to develop walking vehicles is included to show the depth of interest in developing a vehicle capable of traversing rough terrain. A general …
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Modulation of corticospinal excitability during arm cycling in humans
… that CPGs are sufficient to enable locomotion in quadrupeds; however a more extensive cortical input is involved in the production of locomotion and/or cycling in humans (Zehr et. al 2004). Advanced methods such as transcranial magnetic stimulation (TMS) and transmastoid electrical stimulation …
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Autonomous Mobile Robot Navigation in Dynamic Real-World Environments Without Maps With Zero-Shot Deep Reinforcement Learning
… all forms that include wheeled ground vehicles, quadrupeds and humanoids in dynamically changing GPS denied environments without a-priori maps, exclusively using onboard sensors, is an unsolved problem that has potential to transform the economy, and vastly improve humanity's capabilities with …
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Trajectory Optimisation Inspired Design for Legged Robotics
… into the desired gait (for both bipeds and quadrupeds), with a sliding mass template model emerging for all results. Another discrepancy between the literature and nature is that animals have active spines which have been shown to aid in rapid locomotion tasks. In the robotics literature a …
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Computer-Based Animation of an Articulated Body
… models and extend them to animate other quadrupeds.
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Descending Locomotion in Primates
… arboreal generalists, representing above branch quadrupeds weighting over 1 kg; small arboreal generalists, representing above branch quadrupeds under 1 kg; slow climbers; and vertical clingers and leapers. Primates were video recorded moving on supports ranging from horizontal to vertical in 15° …
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Forelimb and hindlimb adjustments to treadmill speed during quadrupedal locomotion after a lateral spinal hemisection in adult cats.
… explore which adjustments limit SCI patients and quadrupeds most from attaining faster speeds to optimize recovery and ambulation after injury.
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Real-Time Planning and Nonlinear Control for Robust Quadrupedal Locomotion with Tails
… be integrated with walking robots, specifically quadrupeds, in order to produce stable and highly robust locomotion. The design and analysis of a holonomically constrained 2 degree of freedom (DOF) tail is shown and its accompanying nonlinear dynamic model is presented. The model created is used …
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The Ephemerality of the Living and the Persistence of the Inanimate
<p>I create fragile, sculptural works with paper. Either cast from pre-existing objects or constructed forms, my three-dimensional works ultimately become pure paper objects. I use the visual language of absence, memory, ruin and ephemerality to present modern artifacts and address the now. I am …