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 71 for “"gaits"”.
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Grasp gaits for planar object manipulation
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1997.
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Using learning algorithms to develop dynamic gaits for legged robots
… rough or broken ground. Unfortunately, dynamic gaits are quite difficult to program by hand and only minimal research has been done on them. This thesis evaluates the use of two different types of learning algorithms (a genetic algorithm and a modified gradient-climbing reinforcement learning …
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Role of Generative AI tools (GAITs) in Software Development Life Cycle (SDLC)- Waterfall Model
… of generative artificial intelligence tools (GAITs) has garnered considerable attention in recent years. These tools, powered by advanced machine learning algorithms, have the ability to generate new and innovative solutions to complex problems. As a result, organizations across various …
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Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback
We present a minimal phase oscillator model for learning quadrupedal locomotion. Each of the four oscillators is coupled only to itself and its corresponding leg through local feedback of the ground reaction force, which we interpret as an observer feedback gain. The oscillator itself is …
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Smart shoe gait analysis and diagnosis: designing and prototyping of hardware and software
… with the information to detect various improper gaits such as Parkinson's disease, Hemiplegic and diplegic gaits. Though there are many wearable and non-wearable methods to detect the improper gate performance, they are usually not user friendly and have restrictions. Most existing devices and …
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Characterization of gait energetics for electrically actuated quadrupeds
… robots and variety of possible running gaits, relatively little is known on the mechanisms that interplay between gait patterns and efficiency of quadrupedal machines. To gain insight on the energetics of robotic running, this work presents a study of the energetic trends across …
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Analysis of the swimming-to-crawling transition of Caenorhabditis elegans in viscous fluid
… elegans is often characterized by two distinct gaits - swimming when in fluids and crawling when on surfaces. Swimming is characterized by about a twice greater wavelength and about four time greater frequency of undulatory waves, compared with the crawling gait. These mechanisms which generate …
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Control and hardware design for a bipedal robot via planar modeling with empirical perception studies leveraging embodied movement analysis
… From these walking behaviors, a set of gaits is identified and labeled, using embodied movement analysis, with stylistic verbs related to human walking, e.g., ``lope'' and ``saunter''. These labels are then validated by conducting user studies in Amazon Mechanical Turk and demonstrate …
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Software and control design for the MIT Cheetah quadruped robots
… and convex optimization to stabilize complex gaits online, allowing it to control complex, fully 3D gaits with flight periods, such as galloping. The backflip is accomplished through offline trajectory optimization with an accurate dynamic model and was the first backflip done on a quadruped …
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Design of Time-Varying Hybrid Zero Dynamics Controllers for Exponential Stabilization of Agile Quadrupedal Locomotion
… controllers that allow stable and agile gaits for full-order hybrid dynamical models of quadrupedal locomotion. Unlike time-invariant nonlinear controllers, time-varying controllers do not rely on sensor data for gait phasing and can initiate locomotion from zero velocity. Motivated by …
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Computer-Based Animation of an Articulated Body
… A methodology for modelling quadruped gaits and gait transitions based on Fourier series analysis of horse movement is proposed. The methodology has been used to define a generic rotoscoped model for movement, which although developed from horse movement data, could be equally applied …
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Development of Wireless Sensor Network to Detect Lameness in Dairy Cows
… use of IMUs for lameness detection in walking gaits. Taking advantage of the holonomic constraints of animal limbs, Principal Component Analysis is able to compress the highly correlated data of locomotion into a smaller dimension in which abnormal gaits can be differentiated.
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Optimizing Snake Locomotion on a Plane: A Variational and Analytical Framework for Friction and Normal Force Modulation
… to investigate the optimal body shapes and gaits that maximize locomotor efficiency and speed for elongated bodies interacting with frictional substrates. By assuming steady, periodic deformations and utilizing resistive force theory (RFT), we derive variational optimization conditions for …
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Stride-level control of quadrupedal runners through optimal scaling of hip-force profiles
… controller can produce bounding and pronking gaits in that model. These gaits emerge as the controller attempts to match particular targets for the runners' states at the apex of their strides. The order in which the feet make contact with ground is not pre-specified. That evaluation also …
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The dynamics and kinematics of bio-in swimming systems
… the complete dynamics of the system, design gaits for motion planning and identify optimal gaits in terms of efficiency and speed. We extend the three-link swimmer case to include effects such as the interaction between the links. By studying several systems, we broaden the applicability of …
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A computer simulation study of tripod follow-the-leader gait coordination for a hexapod walking machine
… previous studies of temporal follow-the leader gaits and should prove useful for all-terrain walking vehicles, such as the Adaptive Suspension Vehicle. Tractor-trailer style steering is introduced as an effort to tailor steering control for this type of gait. Both gait and steering algorithm are …
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Abstract Models of Molecular Walkers
… study how efficiently the spiders with various gaits are able to find specific targets. Spiders with gaits that allow more freedom of leg movement find their targets faster than spiders with more restrictive gaits. For every gait, there is an optimal detachment rate that minimizes the time to …
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Sensory feedback and control of leg-substrate interactions in insects and robots
… motor neurons so as to generate stable walking gaits. Fixed pattern generation alone, however, is not sufficient to achieve agile locomotion over irregular terrain.
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Analysis of movement in pace and tölt in the Icelandic horse
… it has the ability to tölt and pace. These two gaits are from a biomechanical standpoint very similar and it is therefore not always easy to distinguish between them. The aim of this thesis was to objectively measure the major spatial and temporal variables that characterize the gaits tölt and …
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An automatic wearable multi-sensor based gait analysis system for older adults.
… of shape and form differences between individual gaits. The results show that older gaits are distinguishable from young gaits. A pictorial and numerical system is proposed which indicates whether the assessed gait is normal or abnormal depending on their total feature values. This offers several …
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