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 179 for “"legged"”.
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Metastable legged-robot locomotion
A variety of impressive approaches to legged locomotion exist; however, the science of legged robotics is still far from demonstrating a solution which performs with a level of flexibility, reliability and careful foot placement that would enable practical locomotion on the variety of rough and …
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Design Of Proprioceptive Legged Robots
… since the advent of the first power-autonomous legged robots, yet they have still not yet been deployed at scale. One fundamental challenge in legged machines is that actuators must perform work at relatively high speed in swing but also at high torque in stance. Legged machines must also be …
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Autonomous Behaviors With A Legged Robot
… have made it a real possibility for a legged robotic platform to traverse a diverse set of terrains and execute a variety of tasks on its own, with little to no outside intervention. However, there are still several technical challenges to be addressed in order to reach complete …
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Robust Predictive Control for Legged Locomotion
… robust control solutions that can enable legged robots to navigate complex unknown environments. The idea of creating articulated-legged machines that can mimic animal locomotion has fueled the imagination of many researchers. These legged robots are designed to assist humans in their …
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Trajectory Optimisation Inspired Design for Legged Robotics
Control of legged robots is a non-trivial task, especially when looking at aperiodic (non-steadystate) manoeuvres such as rapid acceleration and deceleration. Observing nature, animals are seen to effortlessly perform these rapid transient manoeuvres, however, robust walking is still considered a …
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Uniroo--a one legged dynamic hopping robot
Thesis (B.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1991.
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Genghis, a six legged autonomous walking robot
Thesis (B.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1989.
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Sibling rivalry in black-legged kittiwakes (Rissa tridactyla)
… and in only few species, as in the black-legged kittiwake (Rissa tridactyla) direct aggression between the offspring is present.. It has been proposed that the degree of asymmetries between the members of a brood influence the severity and outcome of this conflict. Several inequalities …
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Rapid acceleration of legged robots: a pneumatic approach
… in a multifaceted manner, they need to be both legged and agile. The legged constraint arises as many environments and systems in our world are tailored to ablebodied adults. Therefore, a practically useful robot would need to have the same morphology for maximum efficacy. For robots to be …
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Applied optimal control for dynamically stable legged locomotion
… adaptation will be an essential component for legged robots in the next few years as they begin to leave the laboratory setting and join our world. I present the first example of a learning system which is able to quickly and reliably acquire a robust feedback control policy for 3D dynamic …
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Application of Koopman Operator Theory to Legged Locomotion
… effectiveness of optimal control strategies for legged robots. In this work, we present a linearized simple walking model using Koopman Operator Theory, and its usage in Linear Model Predictive Control (L-MPC). Various walking and contact models were evaluated, but ultimately the rimless wheel …
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Design and experimental analysis of legged locomotive robots
In this thesis, I present the design and motion-capture analysis of two previously well-studied dynamic-walking machines, the rimless wheel and the compass gait robot. These robots were the basis for my undergraduate research at the Computer Science/Artificial Intelligence Laboratory (CSAIL) at the …
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A two-motor actuator for legged robotics applications
In many robotics and mechatronics applications, actuators must bear a large load at low speeds and also move at high speeds. A single geared motor with a fixed gear ratio is unable to cover the two extreme load conditions effectively. Here, I propose a dual-motor actuator made by combining two …
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Improved Friction and Dynamics Estimation in Legged Robots
Reducing the Sim-to-Real gap between robot simulation and robot performance could lead to improved and more efficient robot design through more accurate controls and design testing in simulation and through more accurate state detection for model-based control architectures. This work built upon …
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Biologically-plausible six-legged running : control and simulation
… run in a simulated twelve degree of freedom six-legged robot. The algorithm is relatively simple; it consists of only a few hand-tuned feedback loops and is defined by a total of 13 parameters. The control utilizes no vestibular-type inputs to actively control orientation. Evidence from …
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Dynamic legged locomotion through trajectory optimization and reinforcement learning
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2023-04-12 without embargo terms
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Control of Rapid Acceleration in a Planar Legged Robot
… hardware and control design of Kemba: a planar legged robot intended for investigating bounding and explosive, agile manoeuvres. The robot incorporates both pneumatically actuated knees for powerful, compliant, and impact resistant actuation, and proprioceptive electric actuators at the shoulder …
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Real-Time Self-Collision Avoidance for Dynamic Legged Robots
… self-collisions is particularly challenging for legged robots, yet critical for them to avoid falling and damaging themselves. Unlike standard obstacle avoidance where the obstacles in the environment are relatively static, in self-collision avoidance the "obstacles" are the robot’s limbs which …
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Tailoring Complexity of Model-Based Controllers for Legged Robots
Humanoid robots promise human-like mobility, but must manage complex and often conflicting control objectives. While model-based controllers can address these challenges using online optimization, they have high computational demands. Model predictive control (MPC) provides closed-loop stability …
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