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 25 for “"Walking robot"”.
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Design of a small pneumatic walking robot
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.
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Genghis, a six legged autonomous walking robot
Thesis (B.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1989.
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Virtual model control of a biped walking robot
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1995.
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Transfer of support in a dynamic walking robot
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.
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Design of a quadruped walking robot for social interaction
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.
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Design, construction, and experiments with a compass gait walking robot
… is necessary. In this thesis a human scale, free walking, planar bipedal walking robot is designed and several of these new control techniques are tested. These include system identification via simulation error optimization, simulation based LQR-Trees, and transverse stabilization of …
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Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls
… of an actuation system design for bipedal robotic walkers. The new actuation system concept is, to a certain extent, a biomimetic solution based on biological walkers. It consists of using elastic cables to actuate a bipedal walking robot, where the motors, which are used for pulling the …
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convex segmentation and mixed-integer footstep planning for a walking robot
… choosing a set of footstep locations which a walking robot can follow to safely reach a goal through an environment with obstacles. Rather than attempting to avoid the obstacles, which would require nonconvex constraints, we use integer variables to assign each footstep to a convex region of …
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Knee design for a bipedal walking robot based on a passive-dynamic walker
Passive-dynamic walkers are a class of robots that can walk down a ramp stably without actuators or control due to the mechanical dynamics of the robot. Using a passive-dynamic design as the basis for a powered robot helps to simplify the control problem and maximize energy efficiency compared to …
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Parallelized Distributed Embedded Control System for 2D Walking Robot for Studying Rough Terrain Locomotion
Biped robots present many advantages for exploration over mobile robots. They do not require a continuous path, which allows 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 …
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Learning control of bipedal dynamic walking robots with neural networks
… important performance requirements for a dynamic walking robot. Learning and adaptation can improve stability and robustness. This thesis explores such an adaptation capability through the use of neural networks. Three neural network models (BP, CMAC and RBF networks) are studied. The RBF network …
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Genetically evolved dynamic control for quadruped walking
… strategy is tested both in simulation and on a walking robot. The design of the walker has been chosen to be statically unstable, so that during motion less than three supporting feet may be in contact with the ground. The control strategy adopted is capable of propelling the artificial walker …
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Biologically-inspired robots for stage performance
… challenges and opportunities in the field of robotics. Onstage robots not only have to function flawlessly, they must interact convincingly with their human counterparts and adhere to a rigid timeline. The scope of this work is to create set pieces that look and behave like organic entities …
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Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots
… variables and constraints being used in legged robot trajectory optimization using DFG. In chapter 2 I will explain DFG’s and the challenges working with them as a whole body motion plan- ning framework. In chapter 3 I will present a novel formulation of kinematic chains as monoids, which …
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Mechanical design of a simple bipedal robot
The thesis objective was to design a walking robot appropriate for testing a machine earning control system. As a robot that would learn how to walk, it was pre-maturely named Toddler. The passive dynamic walker, a class of simple robots driven by gravity and inertia, was selected as the model for …
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Learning contact-aware robot controllers from mixed integer optimization
… contact is central to the task of controlling a walking robot. Robots can only move through the world by exerting forces on their environment, and choosing where, when, and how to touch the world is the fundamental challenge of locomotion. Because the space of possible contacts is a …
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ACTIVE HIP ACTUATION FOR WALKING BIPED WITH PASSIVE OPTION
Biped robots are desired as the ideal solution 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 …
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Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots
Walking is an easy task for most humans and animals. Two characteristics which make it easy are the inherent robustness (tolerance to variation) of the walking problem and the natural dynamics of the walking mechanism. In this thesis we show how understanding and exploiting these two …
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Hybrid Solutions for Mechatronics. Applications to modeling and controller design.
… and trajectory tracking for a bipedal walking robot. We study these application-inspired problems from a theoretical point of view, giving robust Lyapunov-based stability guarantees. We complement the theoretical analysis with numerical results, obtained from simulations or from …
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