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 10 of 10 for “"walking gaits"”.
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Sensory feedback and control of leg-substrate interactions in insects and robots
… in leg 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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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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Unsupervised learning of vocal tract sensory-motor synergies
… research attention that reaching movements or walking gaits have. Motivated by the use of dimensionality reduction algorithms in learning muscle synergies and perceptual primitives that reflect the structure in biological systems, an approach to learning sensory-motor synergies via dynamic …
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Development of Wireless Sensor Network to Detect Lameness in Dairy Cows
… the 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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Design and control of a clutch for a minimally-actuated biped based on the passive-dynamic simple walker
Passive-dynamic walking robots are remarkable mechanical devices capable of maintaining dynamically stable walking gaits with no actuation or control. These systems, however, depend on ideal environmental conditions for stability. Robustness and control capabilities are increased with actuation, …
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Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot
… 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 joint; and a 1-DOF distal joint, similar to an elbow or knee …
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Application of Product Design Concepts and Hybrid System Dynamics to Demonstrate Zeno Behavior and Zeno Periodic Orbits in a Physical Double Pendulum Setup
… in this thesis ? an anthropomorphic Bipedal walking robot and a Double Pendulum with a mechanical stop. The primary objectives of this project are to demonstrate the phenomena of Zeno and zeno periodic orbits in hybrid dynamic systems involving impacts. Initially, I describe the salient …
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Lower body exoskeleton for walking gait assistance and performance augmentation using compliance controlled actuators
… involved in these regular locomotor walking exercises is such that there is poorcompliance. A new range of intelligent assistive machines may offer an alternative and moreefficient solution to promote motor rehabilitation recovery and obtain a better understanding ofhuman motor …
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Experimental Study on the Mobility of Lightweight Vehicles on Sand
… sand, utilizing a one of the first-developed walking gaits. Finally, a comprehensive set of experiments was performed on a lightweight wheeled vehicle. While the terramechanics properties of wheeled and tracked vehicles, such as the contact patch pressure distribution, have been understood and …
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Passivity Based Control of Biped Robots
Made available in DSpace on 2017-07-06T18:42:27Z (GMT). No. of bitstreams: 3 Bhatia_Gagandeep_S_MS.pdf: 53211686 bytes, checksum: 5cfc575123a9339aa4081c17dc153260 (MD5) Bhatia_Gagandeep_S_MS_ABS.pdf: 595231 bytes, checksum: a4d593e392b057308a22432f921ff584 (MD5) license.txt: 4813 bytes, checksum: …