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 101 for “"bipedal"”.
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Robust bipedal locomotion on unknown terrain
A wide variety of bipedal robots have been constructed with the goal of achieving natural and efficient walking in outdoor environments. Unfortunately, there is still a lack of general schemes enabling the robots to reject terrain disturbances. In this thesis, two approaches are presented to …
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Dynamic bipedal walking assisted by learning
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
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Blind bipedal walking on rough terrain
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1995.
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Recurrent Gait of Anthropomorphic, Bipedal Walkers
This thesis explores the dynamics of two bipedal, passive-walker models that are free to move in a three-dimensional environment. Specifically, two rigid-bodied walkers that can sustain anthropomorphic gait down an inclined plane with gravity being the only source of energy were studied using …
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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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Modelling Bipedal Locomotion Using Wavelets for Figure Animation
The thesis addresses the problem of how to develop a motion-modelling approach that can produce motion that is not only believable but also expressive and individual. In recent years motion capture techniques have been widely used for creating realistic animation of articulated figures. The realism …
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Inductive Biases in Learning Hierarchical Abstractions for Bipedal Locomotion
Bipedal locomotion presents a complex challenge in the field of reinforcement learning (RL), due to the high dimensional state and action space. Hierarchical abstractions and inductive biases emerge as critical components in navigating this complexity, offering pathways for effective learning and …
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Robust execution of bipedal walking tasks from biomechanical principles
… A challenging example of such a robot is a bipedal walking machine. Such a robot should be able to walk to a particular location within a particular time, while observing foot placement constraints, and avoiding a fall, if this is physically possible. Although stable walking machines have …
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Stability analysis and control for bipedal locomotion using energy methods
In this thesis, we investigate the stability of limit cycles of passive dynamic walking. The formation process of the limit cycles is approached from the view of energy interaction. We introduce for the first time the notion of the energy portrait analysis originated from the phase portrait. The …
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Geometric control and motion planning for three-dimensional bipedal locomotion
… approach for fast and energetically efficient bipedal dynamic walking in three-dimensional (3-D) space to enable motion planning applications that have previously been limited to inefficient quasi-static walkers. In order to produce exponentially stable hybrid limit cycles, we exploit system …
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Bipedal robot walking control using human whole-body dynamic telelocomotion
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-12-04 without embargo terms
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Learning control of bipedal dynamic walking robots with neural networks
Stability and robustness are two 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 …
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Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls
… novel approach 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 …
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Design of a bipedal robot for rapid acceleration and braking manoeuvres
… The aim of this dissertation was to build a bipedal robot to perform optimal rapid acceleration manoeuvres. This focused on investigating existing robots and using the information therein to design, build and test a new bipedal robot with high agility. The author performed a vigorous …
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Investigating the effect of size on gait using a bipedal robot
Includes bibliographical references (leaves 157-168).
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A Two-DOF Bipedal Robot Utilizing the Reuleaux Triangle Drive Mechanism
… of the challenges, this thesis proposes a novel bipedal robot with reduced DOF leg mechanisms. The proposed leg mechanism utilizes the Reuleaux triangle to generate the foot trajectory to achieve a constant body height during locomotion while maintaining a constant velocity. By using a …
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The Mechanics and Influence of the Foot-Ground Interaction During Bipedal Walking
… of the foot with the ground while walking bipedally in our environment. Specifically, this dissertation examines the mechanics of the foot-ground interaction during walking outside of the confines of the laboratory and the link between this foot-ground interaction and the energetic cost of …
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Movement theory inspired robot motion strategies and design of a bipedal walker
… movements are investigated by designing a bipedal robot closely mapping key movements from human walking as identified in Bartenieff's Basic Six. This design is further simplified for mathematical modeling in a plane and a controller is designed for generating a stable walking gait. This …
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Angular momentum in turns and abrupt starts : strategies for bipedal balance control
Transients occur in human walking during a transition to, from, and between steady state walking and act as an impulse destabilizing an otherwise normal gait cycle. Turns and accelerated starts are all common transients encountered and managed intelligently by humans everyday. The population of …
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Distributed Feedback Control Algorithms for Cooperative Locomotion: From Bipedal to Quadrupedal Robots
This thesis synthesizes general and scalable distributed nonlinear control algorithms with application to legged robots. It explores both naturally decentralized problems in legged locomotion, such as the collaborative control of human-lower extremity prosthesis and the decomposition of …
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