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 6 of 6 for “"Rimless"”.
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Design and experimental analysis of legged locomotive robots
… well-studied dynamic-walking machines, the rimless wheel and the compass gait robot. These robots were the basis for my undergraduate research at the Computer Science/Artificial Intelligence Laboratory (CSAIL) at the Massachusetts Institute of Technology. The rimless wheel is a real-world …
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Application of Koopman Operator Theory to Legged Locomotion
… models were evaluated, but ultimately the rimless wheel was selected due to its inherent stability and low dimensionality, and a nonlinear viscoelastic model was used to accurately capture floor contact and impact dynamics. Koopman models were developed using both Radial Basis Functions …
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Considerations for and Implementations of Deliberative and Reactive Motion Planning Strategies for the Novel Actuated Rimless Spoke Wheel Robot IMPASS for the Two-Dimensional Sagittal Plane
… at Virginia Tech. The robot is driven by a rimless spoke wheel which can alter the length of any given spoke in the hub. This form of novel locomotion combines the efficiency of a wheeled robot and the mobility of a legged robot, arriving at a very practical mobility platform. A highly …
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Analysis of walking and balancing models actuated and controlled by ankles
… joint torque. These passive walkers include a rimless wheel model and springy-legged models with and without a double stance phase. I analyze the stability of the period-one gait of each passive walker to compare it with the stability of the period-one gait of an ankle actuated model. …