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 54 for “"humanoid robots"”.
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An Analytical Motion Filter for Humanoid Robots
Mimicking human motion with a humanoid robot can prove to be useful for studying gaits, designing better prostheses, or assisting the elderly or disabled. Directly mimicking and implementing a motion of a human on a humanoid robot may not be successful because of the different dynamic …
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Natural, Efficient Walking for Compliant Humanoid Robots
Bipedal robots offer a uniquely flexible platform capable of navigating complex, human-centric environments. This makes them ideally suited for a variety of missions, including disaster response and relief, emergency scenarios, or exoskeleton systems for individuals with disabilities. This, …
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Human whole-body dynamic telelocomotion of humanoid robots
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms
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Development of a Locomotion and Balancing Strategy for Humanoid Robots
… mobility are the most distinguished features of humanoid robots. Due to the non-linear dynamics of walking, developing and controlling the locomotion of humanoid robots is a challenging task. In this thesis, we study and develop a walking engine for the humanoid robot, NAO, which is the official …
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Multi-step recovery strategy for humanoid robots using model predictive control
Made available in DSpace on 2019-08-23T20:36:13Z (GMT). No. of bitstreams: 2 MATIJEVICH-THESIS-2019.pdf: 1689446 bytes, checksum: c41c3a94a10006aa2ead403c11aebf8d (MD5) LICENSE.txt: 4213 bytes, checksum: 1306b3614c66f8a5b95ee47dcfc8aa21 (MD5) Previous issue date: 2019-04-26
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Balance control and locomotion planning for humanoid robots using nonlinear centroidal models
Balance control approaches for humanoid robots have traditionally relied on low-dimensional models for locomotion planning and reactive balance control. Results for the low-dimensional model are mapped to the full robot, and used as inputs to a whole-body controller. In particular, the linear …
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A whole-body human-machine interface for dynamic bilateral teleoperation of humanoid robots
… robotics and legged locomotion research, humanoid robotics research has gained great strides in the past decade. The state-of-the-robot humanoid robots have demonstrated human-level dynamic motion capabilities in simple pre-programmed behaviors, such as running and jumping. However, most …
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Development of an Omni-directional Gait Generator and a Stabilization Feedback Controller for Humanoid Robots
Bipedal locomotion in humanoid robots is a very challenging problem within the field of robot locomotion. In this thesis, we propose and demonstrate an omni-directional walking engine that achieves stable walking using feedback from an inertial measurement unit. Our walking engine generates gaits …
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Design and Implementation of a Scalable Real-Time Motor Controller Architecture for Humanoid Robots and Exoskeletons
Embedded systems for humanoid robots are required to be reliable, low in cost, scalable and robust. Most of the applications related to humanoid robots require efficient force control of Series Elastic Actuators (SEA). These control loops often introduce precise timing requirements due to the …
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Bipedal Walking for a Full Size Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption
… effort aims to develop a series of full-sized humanoid robots, and to research a simple but reliable bipedal walking method. Since the debut of Wabot from Waseda University in 1973, several full-sized humanoid robots have been developed around the world that can walk, and run. Although various …
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Mechanical engineering challenges in humanoid robotics
Humanoid robots are artificial constructs designed to emulate the human body in form and function. They are a unique class of robots whose anthropomorphic nature renders them particularly well-suited to interact with humans in a world designed for humans. The present work examines a subset of the …
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An analysis on controlling humanoid robot arm using Robot Operating System (ROS)
Humanoid robots are extensively discussed in modern days. The movement task and manipulation of Humanoid Robots is examined based on mobility of platforms and control of the arm. This project describes a robotic arm that is analogous to an arm of a human being. Some important parameters to be …
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Design and Control of a Structurally Elastic Humanoid Robot
In upcoming decades, humanoid robots are expected to fill the current labor crisis by completing simple behaviors such as lifting and delivering heavy objects around a factory, sorting components, and placing parts onto an engineering build for an assembly line. Unlike other robots that have a …
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Humanoid Robot Friction Estimation in Multi-Contact Scenarios
… 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 the platform. This is …
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Biped walking control design based on zero moment point dynamics
Biped walking control for humanoid robots has been a challenging yet promising research topic in the past decades. The complicated nonlinear dynamics and numerous degrees of freedom are the main obstacles for biped walking control. This thesis studies the complete control scheme of biped walking …
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Upper Body Design of a Humanoid Robot for the DARPA Robotics Challenge
Humanoid robots have captured the imagination of authors and researchers for years. Development of the bipedal walking necessary for humanoid robots began in earnest in the late 60's with research in Europe and Japan. The the unique challenges of a bipedal locomotion led to initial robots keeping …
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Tactile Sensing System Integrated to Compliant Foot of Humanoid Robot for Contact Force Measurement
… paper presents a new sensor platform beneath the humanoid feet, enabled by a pragmatic model based compliant foot design and sensor configuration that mimics the human tactile sensory system for contact force measurement in humanoid robots. Unlike previous force sensor based approaches, the system …
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Modeling, Analysis, and Experimental Validation of an Electric Linear Series Elastic Actuator for an Exoskeleton
Exoskeletons and humanoid robots require high-power, low-weight, and back-driveable actuators. This paper describes the design and analysis of a high-force linear series elastic actuator for a lower body exoskeleton. The actuator is powered by two motors and utilize a liquid cooling system to …
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