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.
Results
Showing 1 to 20 of 51 for “"Rough terrain"”.
-
Blind bipedal walking on rough terrain
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1995.
-
Heterogeneous Drive Mechanisms for Novel Locomotion in Rough Terrain
… motive power to surmount obstacles and navigate rough terrain. This thesis examines the addition of bulk motive force actuators to existing locomotion platforms and the impact of these heterogeneous actuators on conventional steering methods. The steering methods examined are those associated …
-
Real-time quadruped gait controller for rough terrain locomotion
… as first responders, but must often navigate rough and unstable terrain. The high center of mass and small support polygon of humanoids creates a difficult locomotion challenge. However, a humanoid that can transform into a quadruped for locomotion, such as MIT Biomimetic Robotics Lab's …
-
Hazard avoidance for high-speed rough-terrain unmanned ground vehicles
… ground vehicles have important applications in rough-terrain. In these applications unexpected and dangerous situations can occur that require rapid hazard avoidance maneuvers. At high speeds, there is limited time to perform navigation and hazard avoidance calculations based on detailed vehicle …
-
Design of a chain flail mower for leveling rough terrain
… around a drum to cut down bushes and grassy terrain. One major drawback to the flail mower is the rapid wear that happens almost immediately when any sort of rocks, gravel, or rough terrain are encountered. The goal of this project was to design and manufacture a prototype of a machine that …
-
Path planning for human planetary surface Exploration in rough terrain
… (Biologic Analog Science Associated with Lava Terrains) campaign. This thesis also discusses its integration with a larger EVA planning, execution, and analysis environment developed at NASA Ames: xGDS(exploration Ground Data Systems) in contrast to the standalone tool that previously existed. …
-
Rough Surface Scattering and Propagation over Rough Terrain in Ducting Environments
The problem of rough surface scattering and propagation over rough terrain in ducting environments has been receiving considerable attention in the literature. One popular method of modeling this problem is the parabolic wave equation (PWE) method. In this method, the Helmholtz wave equation is …
-
Rough-terrain mobile robot planning and control with application to planetary exploration
… to perform difficult tasks in highly challenging terrain, with limited human supervision. Current motion planning and control algorithms are not well suited to rough-terrain mobility, since they generally do not consider the physical characteristics of the rover and its environment. Failure to …
-
Modeling and analysis of high-speed mobile robots operating on rough terrain
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003.
-
Analysis, design, and control of an omnidirectional mobile robot in rough terrain
… considered the case of motion on flat, smooth terrain. In this thesis, an investigation of the suitability of an active split offset caster driven omnidirectional mobile robot for use in rough terrain is presented. Kinematic and geometric properties of the drive mechanism are investigated along …
-
Motion planning for high-speed and kinematically reconfigurable mobile robots in rough terrain
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.
-
Parallelized Distributed Embedded Control System for 2D Walking Robot for Studying Rough Terrain Locomotion
… them to navigate over a much larger range of terrain. Currently, bipeds have been successful at walking on flat surfaces and non-periodic rough terrain such as stairs, but few have shown success on unknown periodic terrain. The Jaywalker is a 2D walker designed to study locomotion on uneven …
-
Mixed-integer convex optimization for planning aggressive motions of legged robots over rough terrain
… approach to gait selection over irregular terrain, a trajectory optimization formulation for floating-base systems subject to external forces and kinematic constraints, and a planning methodology that integrates both of those to generate highly dynamic motions in challenging environments. I …
-
Modeling, system identication, and control for dynamic locomotion of the LittleDog robot on rough terrain
… stable bounding gait on the LittleDog robot over rough terrain. The framework relies on an accurate planar model of the dynamics, which I assembled from a model of the motors, a rigid body model, and a novel physically-inspired ground interaction model, and then identied using a series of physical …
-
The Recti-Blob II : a conformal shape-changing robot for robust locomotion over rough terrain
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 1997
-
Design and Development of a Novel Reconfigurable Wheeled Robot for Off-Road Applications
Autonomous navigation with high speed in rough terrain is one of the most challenging tasks for wheeled robots. To achieve mobility over this terrain, a high agility wheeled robot should adapt and react fast to optimally traverse this challenging environment. Therefore, this dissertation is geared …
-
Design of a Helicopter Deployable Ground Robotic System for Hazardous Environments
… power limited and must be capable of traversing rough, unstructured terrain. The results of testing show that the design criteria for size, weight, and mobility are met. A path planning algorithm is developed using the A* search algorithm for the planning of optimal paths through rough terrain. …
-
Mechanical design of a Stewart platform-based crawling vehicle
… of Mar's conclude that its surface is too rough for conventional wheeled vehicles. Man and cursorial animals, however, are capable of traversing virtually all types of terrain. These reasons, among others, have focused almost all development on walking vehicles having fixed torsos and …
-
Modeling, analysis, and measurement of passenger vehicle stability
… has studied the rollover stability of robots on rough terrain at low speed. Accident statistics show, however, that over 80% of rollovers occur when a vehicle departs the roadway and encounters sloped and rough terrain at high speed. This thesis investigates the stability limits imposed by …
-
ACTIVE HIP ACTUATION FOR WALKING BIPED WITH PASSIVE OPTION
… over wheel vehicles when traversing over rough terrain due to the simplicity and efficiency when mimicking the natural and dynamic motion of a human gait. The Intelligent Systems and Automation Laboratory (ISAL) at the University of Kansas designed and built a three legged 2D biped walking …
Page 1 of 3