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 30 for “"legged locomotion"”.
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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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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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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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Structuring Optimal Control of Legged Locomotion with Learning-based Methods
… methods have been widely used for the control of legged locomotion. While optimal control formulations allow the designer to guarantee constraints on the solutions found, learning-based methods can leverage data and past experiences to globally search for solutions robust to noise and errors in …
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Generative Latent Motion Planning and Reinforcement Learning for Legged Locomotion
… innovative and advanced control systems for legged robots. The method’s robustness, versatility, and generality have made it a prime candidate for future robotic systems deployed in the real world. Through the development of more advanced machine learning algorithms and more reliable and …
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Perception and control of robot legged locomotion over variable terrain
… the role of foot-ground dynamics in robot legged locomotion. Empirical observation with robot hardware is critical for such investigation due to the complexity of impact dynamics and the infinite variability of real terrain. To this end, we introduce the MIT Super Mini Cheetah, a small, …
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Policy regularized model predictive control framework for robust legged locomotion
… framework is developed to allow general robust legged locomotion with the MIT Cheetah quadruped robot. The full system is approximated by a simple control model that retains the key nonlinearities characteristic to legged contact dynamics while reducing the complexity of the continuous dynamics. …
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A Model-Based Planning and Control Framework for Parkour-Style Legged Locomotion
Legged robots have long been envisioned as a means of expanding robotic capabilities beyond structured environments, yet achieving high-agility locomotion remains a fundamental challenge. This thesis presents a model-based framework for parkour-style locomotion, enabling robots to execute highly …
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Hierarchical Control of Constrained Multi-Agent Legged Locomotion: A Data-Driven Approach
… that allows for robust multi-agent collaborative legged locomotion. More specifically, this work provides a detailed derivation of a torque controller that is theoretically justifiable in the context of Hybrid Zero Dynamics at the lowest level of control to produce highly robust locomotion, even …
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Optimization-based control and planning for highly dynamic legged locomotion in complex environments
Legged animals can dynamically traverse unstructured environments in an elegant and efficient manner, whether it be running down a steep hill or leaping between branches. To harness part of the animal agility to the legged robot would unlock potential applications such as disaster response and …
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Let there be Luxo : a jumping lamp sheds light on heavy legged locomotion
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1997.
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Learning Legged Locomotion by Physics-based Initialization: Motion Imitation from Model-Based Optimal Control
The development of legged robots capable of navigating in and interacting with the world is quickly advancing as new methods and techniques for sensing, decisionmaking, and controls expand the capabilities of state-of-the-art systems. Model-based methods, empowered by greater computing capacity and …
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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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Towards a Stable Three-Legged Under-Actuated Robotic Platform
… a novel robotic platform capable of stable three legged locomotion. This will be accomplished by creating a robust and adaptable robotic platform capable of executing different walking strategies and taking multiple continuous steps. Previous iterations of this platform have been developed, all of …
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Optimal Control for Autonomous Motor Behavior
… motor behavior in high-dimensional domains of legged locomotion. We identify three foundational problems that limit the application of existing optimal control algorithms, and present guiding principles that address these issues. First, some traditional algorithms use global optimization, where …
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Optimizing dynamic locomotion in Baleka II: from simulation to real-world running
In the field of legged locomotion, agility is a critical area of research in robotics due to its potential to enable versatile movement for various applications, including search and rescue missions. However, bipedal robots face significant challenges in achieving rapid movements, such as …
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Policy search approaches to reinforcement learning for quadruped locomotion
Legged locomotion is a challenging problem for machine learning to solve. A quadruped has 12 degrees of freedom which results in a large state space for the resulting Markov Decision Problem (DP). It is too difficult for computers to completely learn the state space, while it is too difficult for …
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Smart shoe force sensor development and analysis for walking gait
… training. Previously developed methods for legged locomotion force detection involved convoluted sensing systems and significant external equipment. This thesis builds upon previous developed smart shoe sensors adapted from the MIT Cheetah robot using pressure sensors embedded in urethane …
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A whole-body human-machine interface for dynamic bilateral teleoperation of humanoid robots
… cumulative results of industrial 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 …
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