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 5 of 5 for “"Whole Body Control"”.
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… will require major advances in humanoid control, enabling robots to traverse difficult, cluttered terrain with both speed and stability. To advance the state of the art, this dissertation presents a complete dynamic locomotion and whole-body control framework for compliant …
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Humanoid Robot Friction Estimation in Multi-Contact Scenarios
… approximation to be utilized in con- cert with whole body control on humanoid robots. This approach allows humanoid robots with ankle mounted force-torque sensors to extrapolate information about the friction constraints at the hands during multi-contact poses without the addition of hardware to …
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Design and Control of a Structurally Elastic Humanoid Robot
… to the ground to navigate which poses several control and state estimation challenges. Currently, humanoid robots are manufactured with rigid metal linkages that are extremely complex and require an expert machinist leading to cost increases. Instead, this work presents the design and control …
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Multi-Objective Control for Physical and Cognitive Human-Exoskeleton Interaction
… exoskeletons currently is the development of a control framework to best cooperate with the user. This limitation is first in understanding the physical and cognitive interaction between the user and exoskeleton, and then in designing a controller that addresses this interaction in a way that …
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Natural, Efficient Walking for Compliant Humanoid Robots
… significant advances in humanoid locomotion and control, as they are still slow, unnatural, inefficient, and relatively unstable. The work of this dissertation the state of the art with the aim was of increasing the robustness and efficiency of these bipedal walking platforms. We present a series …