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 18 of 18 for “"robot locomotion"”.
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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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SOFT WORM ROBOT: LOCOMOTION CHARACTERISTICS AND SENSING FOR AGRICULTURAL ROBOTICS
… of innovative technologies in agricultural robotics. To achieve the best agricultural conditions and ensure healthy plant roots for higher yields through careful monitoring, it becomes necessary to install multiple sensors (such as temperature, humidity, and vision sensors) under the soil …
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Biped walking trajectory design and stabilization
Biped robot locomotion has been studied intensively for many decades, and one of the most challenging topics of study is the dynamic motion of the biped robot. This thesis will utilize the zero-moment point (ZMP) along with a simplified dynamics model, the linear inverted pendulum model (LIPM), to …
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Learning Sim-to-Real Robot Parkour from RGB Images
Advancements in quadrupedal robot locomotion have yielded impressive results, achieving dynamic maneuvers like climbing, ducking, and jumping. These successes are largely attributed to depth-based visual locomotion policies, known for their robust transferability between simulated and real-world …
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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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Hierarchical neural control of human postural balance and bipedal walking in sagittal plane
… for the design of humanoid or other biomorphic robot locomotion. The modeling was designed to confirm neurophysiological plausibility and achieve practical simplicity as well. The combination of scheduled long-loop proprioceptive and force feedback represents the cerebrocerebellar system to …
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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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Reconstruction and analysis of dynamic shapes
… to enhance virtual characters, advance robot locomotion, improve sports performance, and aid in medical rehabilitation, thus directly affecting our daily lives. My methods efficiently recover much of the expressiveness of dynamic shapes from the silhouettes alone. Furthermore, the …
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Advanced transfer printing methods and their applications to functional surfaces
… control, electroluminescence, and aquatic soft robot locomotion.
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Sculpting behavior : a tangible language for hands-on play and learning
… a scientific domain, e.g. engineering and robot locomotion. Queens, backpacks, Remix and Robo add various abstractions to the system, and extend the tangible interface. Children use Topobo to transition from hands-on knowledge to theories that can be tested and reformulated, employing a …
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An Application of Graph of Convex Sets Trajectory Optimization to the Marine Robotics Domain
… optimization motion planner from the MIT Robot Locomotion Group is a recently developed planner which has been demonstrated to return smooth and optimal paths navigating around complex environments filled with obstacles, but this planner has not been applied to marine environments. The …
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Modelling and Simulation of the Nonlinear Dynamics of Arrays of Coupled Filaments for Robot Walkers
… types of organized coordinated patterns used for locomotion, among other functions. One notable type of coordination is called metachronal, which manifests through wave propagation across the filaments, and it is inherently related to motility and locomotion. The same type of wave phenomena are …
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Study of the compliance and system integration of bistable structures for use as actuation mechanisms in bioinspired adaptive systems
… especially for use in the fields of soft robotics and human-robot interaction. Introducing compliance to bistable actuation mechanisms significantly increases the complexity of both modeling the actuation mechanism and synergistically incorporating the mechanism into a system design. This …
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Design of a Novel Tripedal Locomotion Robot and Simulation of a Dynamic Gait for a Single Step
Bipedal robotic locomotion based on passive dynamics is a field that has been extensively researched. By exploiting the natural dynamics of the system, these bipedal robots consume less energy and require minimal control to take a step. Yet the design of most of these bipedal machines is inherently …
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Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot
The Multi-Appendage Robotic System (MARS) built for this research is a hexapod robotic platform capable of walking and performing manipulation tasks. Each of the six limbs of MARS incorporates a three-degree of freedom (DOF), kinematically spherical proximal joint, similar to a shoulder or hip …
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Distributed Feedback Control Algorithms for Cooperative Locomotion: From Bipedal to Quadrupedal Robots
… 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 high-dimensional controllers of a naturally centralized problem into a …
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Investigation of Standing Up Strategies and Considerations for Gait Planning for a Novel Three-Legged Mobile Robot
… when operating the novel three legged mobile robot STriDER (Self-excited Tripedal Dynamic Experimental Robot); how to stand up after falling down while minimizing the motor torques at the joints and considerations for gait planning. STriDER uses a unique tripedal gait to walk with high energy …
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Learning-based control of a cyberoctopus
… for a simulated soft-bodied octopus-like robot, the CyberOctopus. The continuous deformation and intricate mechanics of soft arms pose challenges in developing dynamic control models, especially when engaging with moving objects or coordinating multiple arms. Additionally, existing studies …