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 22 for “"Walking robots"”.
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Stability optimization of open-loop controlled walking robots
… new open-loop stable one-legged and two-legged walking robots. It thus demonstrates that the concept of open-loop control is applicable to a much wider range of systems than was conceived before. An open-loop stable control strategy does not use any feedback nor does it take any active measures …
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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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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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Stable locomotion control of bipedal walking robots : synchronization with neural oscillators and switching control
… achieve stable locomotion control for a bipedal walking robot. This approach applies nonlinear switching control theory in the locomotion control system so as to ensure bipedal gait stability in the stable limit cycle sense. The switching surface is determined by means of the orbital contraction …
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A Low Cost, Computer-Vision-Based, Target-Tracking Hexapod
… Typically, the designers of autonomous mobile robots veer away from walking robots due to their mechanical and control system complexity. However, with the availability of current processing technology, low cost vision systems, and wireless communications, such autonomous robots should become …
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Topobo : a 3-D constructive assembly system with kinetic memory
… abilities to quickly develop various types of walking robots suggests that a tangible interface can support understanding how balance, leverage and gravity affect moving structures because the interface itself responds to the forces of nature that constrain such systems.
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Design and control of a clutch for a minimally-actuated biped based on the passive-dynamic simple walker
Passive-dynamic walking robots are remarkable mechanical devices capable of maintaining dynamically stable walking gaits with no actuation or control. These systems, however, depend on ideal environmental conditions for stability. Robustness and control capabilities are increased with actuation, …
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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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Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis
… remain fixed across different terrains and walking speeds. The passive nature of these prostheses causes many problems for lower extremity amputees, such as a lack of adequate balance control during standing and walking. The ground reaction force (GRF) and the zero moment point (ZMP) are …
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Control and hardware design for a bipedal robot via planar modeling with empirical perception studies leveraging embodied movement analysis
… gait styles. That is why, developing bipedal robots is of interest for applications in human-facing settings. For the purpose of designing an expressive bipedal robot, this dissertation focuses on taking inspiration from the experiential understanding about human walking from the Basic Six in …
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Wearable robotics for rehabilitation
Robots have become an integral part of modern industrial manufacturing. In healthcare, the impact of robotic devices has not yet been established but there has been considerable discussion on their use as assistive devices and as products or systems that aid in rehabilitation of disabled people. I …
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Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot
Walking robots are useful in search and rescue applications due to their ability to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical …
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Optimization for control and planning of multi-contact dynamic motion
… with a complex and changing world. Yet, current robots are largely limited to basic tasks in structured environments and act slowly and cautiously, afraid of incidental contact. In this thesis, we consider a class of control and planning problems for robots dynamically interacting with their …
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Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles
… of underactuated systems include flexible-link robots, nobile robots, walking robots, robots on mobile platforms, cars, locomotive systems, snake-type and swimming robots, acrobatic robots, aircraft, spacecraft, helicopters, satellites, surface vessels, and underwater vehicles. Based on recent …
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Robustification in Repetitive and Iterative Learning Control
… algorithms have even been applied to biomimetic walking robots, where tracking a periodic reference signal or rejecting periodic disturbances is desired. Compared to conventional feedback control designs (including the inverse dynamics method), RC and ILC improve the control performance over …
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Design and Control of a Humanoid Robot, SAFFiR
… one life for another. In this role, humanoid robots are a strong candidate, being able to take advantage of both the human engineered environment in which it will likely operate, but also make use of human engineered tools and equipment as it deals with a disaster relief effort. The work …
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Real-Time Planning and Nonlinear Control for Robust Quadrupedal Locomotion with Tails
… serpentine robotic tails may 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 …
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Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls
… of using elastic cables to actuate a bipedal walking robot, where the motors, which are used for pulling the cables, are attached to the segments that undergo low accelerations (like trunk). </p><p>The main results and contributions of the dissertation are:(a) The new actuation system has …
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Biofabrication of muscular and neuronal in-vitro tissue for multi-cellular engineered living systems
… and the redesigning of previous muscle-based walking robots for higher force generation. First of all, the ability to uncover in-vitro methods to “reprogram” neural networks responsible for guiding the actuation of muscle is critical to engineer the dynamic functionalities needed in these …
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MASSIVELY DISTRIBUTED NEUROMORPHIC CONTROL FOR LEGGED ROBOTS MODELED AFTER INSECT STEPPING
… distributed control architecture for legged robots composed of simulated physiological neuron and synapse models. Its structure is based on insect neurobiology. Each joint uses a unique central pattern generator (CPG) to produce oscillation. The CPGs in each leg cannot directly communicate, …
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