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Texas A&M University
1.
Lack, Jordan Thomas.
Planar Multicontact Locomotion Using Hybrid Zero Dynamics.
Degree: 2013, Texas A&M University
URL: http://hdl.handle.net/1969.1/151833 
► This thesis proposes a method for generating multi-contact, humanlike locomotion via a human-inspired optimization. The chief objective of this work is to offer an initial…
(more)
▼ This thesis proposes a method for generating multi-contact, humanlike
locomotion via a human-inspired optimization. The chief objective of this work is to offer an initial solution for obtaining multi-domain walking gaits containing domains with differing degrees of actuation. Motivated by the fact that
locomotion inherently includes impacts, a hybrid systems approach is used. Through Lagrangian mechanics, a dynamic model of the system is derived that governs the continuous dynamics, while the dynamics during the impacts are modeled assuming perfectly plastic impacts in which the ground imparts an impulsive force on the impacting link.
Using the dynamic model of the planar bipedal robot Amber 2, a seven link biped, a human-inspired optimization is presented which leverages the concept of zero dynamics, allowing for a low dimensional representation of the full order dynamics. Within the optimization, constraints are constructed based on the interaction be- tween the robot and the walking surface that ensure the optimized gait is physically realizable. Other constraints can be used to influence or ?shape? the optimized walking gait such as kinematic and/or torque constraints. This optimized walking gait is then realized through the method of Input/Output Linearization. Finally, the utilization of online optimization in the form of a quadratic program increase the capabilities of simple Input/Output Linearization by introducing a notion of optimality as well as the ability to distribute torque as necessary to meet actuator requirements. Ultimately the combination of the flexability of the human-inspired optimization along with the controllers described result in not only multi-domain human-like walking, but even more importantly a tool for rapidly designing new walking gaits.
Advisors/Committee Members: Ames, Aaron D (advisor), Malak, Richard J (committee member), Hurtado, John E (committee member).
Subjects/Keywords: Robot; Locomotion
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APA (6th Edition):
Lack, J. T. (2013). Planar Multicontact Locomotion Using Hybrid Zero Dynamics. (Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/151833
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Lack, Jordan Thomas. “Planar Multicontact Locomotion Using Hybrid Zero Dynamics.” 2013. Thesis, Texas A&M University. Accessed November 17, 2019.
http://hdl.handle.net/1969.1/151833.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Lack, Jordan Thomas. “Planar Multicontact Locomotion Using Hybrid Zero Dynamics.” 2013. Web. 17 Nov 2019.
Vancouver:
Lack JT. Planar Multicontact Locomotion Using Hybrid Zero Dynamics. [Internet] [Thesis]. Texas A&M University; 2013. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/1969.1/151833.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Lack JT. Planar Multicontact Locomotion Using Hybrid Zero Dynamics. [Thesis]. Texas A&M University; 2013. Available from: http://hdl.handle.net/1969.1/151833
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
2.
Pujala, Avinash.
The neural mechanisms underlying ventral and dorsal
root-evoked fictive locomotion in the neonatal mouse spinal
cord.
Degree: PhD, Neuroscience, 2013, Brown University
URL: https://repository.library.brown.edu/studio/item/bdr:320663/
► In this thesis, I made use of the isolated spinal cord preparation of the neonatal mice to investigate the neural mechanisms underlying fictive locomotion. Recently,…
(more)
▼ In this thesis, I made use of the isolated spinal cord
preparation of the neonatal mice to investigate the neural
mechanisms underlying fictive
locomotion. Recently, it has been
shown that stimulation of ventral roots (motoneuron axons) produces
fictive
locomotion. However, the spinal pathways and
pharmacological mechanisms underlying this phenomenon are unknown.
To further our understanding in this regard, I carried out
experiments to determine if ventral roots activated the locomotor
network in a manner similar to dorsal roots (primary afferents).
When I jointly stimulated dorsal and ventral roots with low
intensity stimuli incapable of eliciting fictive I was unable to
elicit fictive
locomotion. This suggested that ventral and dorsal
roots accessed the locomotor network via different sets of
first-order relay interneurons. This was more directly indicated by
recordings from two different relay interneuron populations known
to be contacted by afferents, and to be important for excitation of
the locomotor network. Unlike dorsal roots, ventral roots failed to
elicit monosynaptic responses within these neurons. This raised the
possibility that motor axons and sensory afferents might activate
distinct rhythmogenic networks. To test this idea, I used
interleaved dorsal and ventral root stimulus trains. Such
interleaved stimulus trains elicited robust locomotor-like
activity, suggesting that the two inputs were indeed activating the
same rhythmogenic elements. This was confirmed in a set of
experiments in which the stimulus train began with one root and was
then abruptly switched to the other root. In these experiments,
locomotor-like rhythmic activity continued without interruption,
despite the sudden switch in the stimulation from one root to
another. Collectively these results suggest that dorsal and ventral
root stimuli activate the same rhythmogenic network, but by
exciting different relay interneurons.
In another study, I investigated the pharmacological
mechanisms underlying electrically-elicited fictive
locomotion. I
found that fictive
locomotion elicited in this manner required
activation of a class of metabotropic glutamate receptors. By
selectively applying pharmacological agents to different parts of
the spinal cord, I was able to uncover evidence suggesting that
this class of metabotropic glutamate receptors played an important
role in the mechanisms of rhythmogenesis.
Advisors/Committee Members: O'Donovan, Michael (Director), Harris-Warrick, Ronald (Reader), McBain, Chris (Reader), Connors, Barry (Reader).
Subjects/Keywords: Fictive locomotion
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APA (6th Edition):
Pujala, A. (2013). The neural mechanisms underlying ventral and dorsal
root-evoked fictive locomotion in the neonatal mouse spinal
cord. (Doctoral Dissertation). Brown University. Retrieved from https://repository.library.brown.edu/studio/item/bdr:320663/
Chicago Manual of Style (16th Edition):
Pujala, Avinash. “The neural mechanisms underlying ventral and dorsal
root-evoked fictive locomotion in the neonatal mouse spinal
cord.” 2013. Doctoral Dissertation, Brown University. Accessed November 17, 2019.
https://repository.library.brown.edu/studio/item/bdr:320663/.
MLA Handbook (7th Edition):
Pujala, Avinash. “The neural mechanisms underlying ventral and dorsal
root-evoked fictive locomotion in the neonatal mouse spinal
cord.” 2013. Web. 17 Nov 2019.
Vancouver:
Pujala A. The neural mechanisms underlying ventral and dorsal
root-evoked fictive locomotion in the neonatal mouse spinal
cord. [Internet] [Doctoral dissertation]. Brown University; 2013. [cited 2019 Nov 17].
Available from: https://repository.library.brown.edu/studio/item/bdr:320663/.
Council of Science Editors:
Pujala A. The neural mechanisms underlying ventral and dorsal
root-evoked fictive locomotion in the neonatal mouse spinal
cord. [Doctoral Dissertation]. Brown University; 2013. Available from: https://repository.library.brown.edu/studio/item/bdr:320663/
University of Waterloo
3.
Silva, Veronica Miyasike da.
Role of visual information during stair locomotion.
Degree: 2011, University of Waterloo
URL: http://hdl.handle.net/10012/5824
► Vision provides relevant information for safe locomotion in a variety of environments. During stair locomotion visual information may be important to detect step boundaries, transitions…
(more)
▼ Vision provides relevant information for safe locomotion in a variety of environments. During stair locomotion visual information may be important to detect step boundaries, transitions between ground level and stairs, handrail location, and potential hazards. Although there is a large body of literature on the role of vision during locomotion there is relatively little focused on how visual information is used during stair walking. Stairs are related to a significant number of accidents in daily living, and many of these accidents are attributed to visual factors. Therefore, understanding the role of vision during stair walking could provide insight into the mechanisms involved in stair accidents. The purpose of this thesis was to investigate the properties of the visual input used to guide locomotion on stairs. Study 1 was design to describe the gaze patterns during stair locomotion with a specific focus on transitions and handrails. Study 2 investigated the effects of performing concurrent visual and non-visual tasks on walking performance and associated gaze behaviour during stair ascent. Study 3 explored the role of peripheral visual information during visual and non-visual dual tasking. Finally, Study 4 investigated the effects of restricting the lower peripheral visual field to walk on stairs. Studies relied on the measurement in health young adults of: gaze behaviour using an eye tracker, temporal characteristics of walking using foot switches, and reaction time and errors of dual task performance. Overall, the findings of these studies highlight the importance of the lower visual field in guiding stair locomotion and the specific importance for stair transitions. Moreover, foveal vision is not specifically critical to detecting handrails or steps. Results are interpreted in the light of the specialization of the dorsal ventral stream in processing peripheral visual field information. Findings of this thesis provide basic understanding on the role of vision for stair navigation with potential applications in stair-related accident prevention programs and stair design.
Subjects/Keywords: vision; locomotion; stair locomotion; peripheral vision
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APA (6th Edition):
Silva, V. M. d. (2011). Role of visual information during stair locomotion. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/5824
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Silva, Veronica Miyasike da. “Role of visual information during stair locomotion.” 2011. Thesis, University of Waterloo. Accessed November 17, 2019.
http://hdl.handle.net/10012/5824.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Silva, Veronica Miyasike da. “Role of visual information during stair locomotion.” 2011. Web. 17 Nov 2019.
Vancouver:
Silva VMd. Role of visual information during stair locomotion. [Internet] [Thesis]. University of Waterloo; 2011. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/10012/5824.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Silva VMd. Role of visual information during stair locomotion. [Thesis]. University of Waterloo; 2011. Available from: http://hdl.handle.net/10012/5824
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Université Catholique de Louvain
4.
Dewolf, Arthur.
Neuromechanics of human walking and running on a slope.
Degree: 2019, Université Catholique de Louvain
URL: http://hdl.handle.net/2078.1/214187
► Neuromechanics is rather new approach that integrates biomechanics and motor control of movement. In this thesis, we analyse how the mechanics and the neuromuscular control…
(more)
▼ Neuromechanics is rather new approach that integrates biomechanics and motor control of movement. In this thesis, we analyse how the mechanics and the neuromuscular control of gait are modified during walking or running uphill or downhill, at different speeds. Therefore, we study the modifications of centre of mass trajectory to understand how the two basic mechanisms of human locomotion are modified. In a next step, we analyse the impact of these modifications on the coordination between lower limb-segments. Our results reveal that the kinematic pattern changes differently with speed on positive and negative slopes. Thereafter, we investigate the neuromuscular control of locomotion of slope by recording the activity of lower-limb muscles. Our results show that the modification of motor pool activity patterns across slopes also depends on speed. These changes in coordination might result from interplay between the activity of spinal central pattern generators (CPG) and sensory signals.
(MOTR - Sciences de la motricité) – UCL, 2019
Advisors/Committee Members: UCL - SSS/IONS/COSY - Systems & cognitive Neuroscience, UCL - Faculté des sciences de la motricité, Willems, Patrick, Schepens, Bénédicte, Thonnard, Jean-Louis, Ivanenko, Yuri, De clercq, Dirk, Jonkers, Ilse, Cheron, Guy.
Subjects/Keywords: Neuromechanics; Human locomotion
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APA (6th Edition):
Dewolf, A. (2019). Neuromechanics of human walking and running on a slope. (Thesis). Université Catholique de Louvain. Retrieved from http://hdl.handle.net/2078.1/214187
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Dewolf, Arthur. “Neuromechanics of human walking and running on a slope.” 2019. Thesis, Université Catholique de Louvain. Accessed November 17, 2019.
http://hdl.handle.net/2078.1/214187.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Dewolf, Arthur. “Neuromechanics of human walking and running on a slope.” 2019. Web. 17 Nov 2019.
Vancouver:
Dewolf A. Neuromechanics of human walking and running on a slope. [Internet] [Thesis]. Université Catholique de Louvain; 2019. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/2078.1/214187.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Dewolf A. Neuromechanics of human walking and running on a slope. [Thesis]. Université Catholique de Louvain; 2019. Available from: http://hdl.handle.net/2078.1/214187
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
INP Toulouse
5.
Truong, Tan Viet Anh.
Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion.
Degree: Docteur es, Systèmes Automatiques, 2010, INP Toulouse
URL: http://www.theses.fr/2010INPT0026
► Notre motivation est de comprendre la locomotion humaine pour un meilleur contrôle des systèmes virtuels (robots et mannequins). La locomotion humaine a été étudiée depuis…
(more)
▼ Notre motivation est de comprendre la locomotion humaine pour un meilleur contrôle des systèmes virtuels (robots et mannequins). La locomotion humaine a été étudiée depuis longtemps dans des domaines différents. Nous considérons la locomotion comme le déplacement d’un repère attaché au corps humain (direction et orientation) au lieu de la trajectoire articulaire du corps complet. Notre approche est basée sur le fondement calculatoire de la locomotion humaine. Le but est de trouver un modèle qui explique la forme de la locomotion humaine dans l’espace. Pour ce faire, nous étudions tout d’abord le comportement des trajectoires au sol pendant la locomotion intentionnelle. Quand un humain marche, il met un pied devant l’autre et par conséquence, l’orientation du corps suit la direction tangente de la trajectoire. C’est ce qu’on appelle l’hypothèse de comportement nonholonome. Cependant, dans le cas d’un pas de côté, l’orientation du corps n’est plus semblable à la direction de trajectoire, et l’hypothèse n’est plus valable. Le comportement de la locomotion devient holonome. Le but de la thèse est de distinguer ces deux comportements et de les exploiter en neuroscience, robotique et animation graphique. La première partie de la thèse présente une étude qui permet de déterminer des configurations de comportement holonome par un protocole expérimental et par une fonction qui segmente les comportements nonholonomes et holonomes d’une trajectoire. Dans la deuxième partie, nous établissons un modèle unifiant comportements nonholonomes et holonomes. Ce modèle combine trois vitesses générant la locomotion humaine : tangentielle, angulaire et latérale. Par une approche de commande optimale inverse nous proposons une fonction multi-objectifs qui optimise des trajectoires calculées pour les rendre proches des trajectoires humaines naturelles. La dernière partie est l’application qui utilise les deux comportements pour synthétiser des locomotions humaines dans un environnement d’animation graphique. Chaque locomotion est caractérisée par trois vitesses et est donc considérée comme un point dans l’espace de commande 3D (de trois vitesses). Nous avons collecté une librairie qui contient des locomotions de vitesses différentes – des points dans l’espace 3D. Ces points sont structurés en un nuage de tétraèdres. Quand une vitesse désirée est donnée, elle est projetée dans l’espace 3D et on trouve le tétraèdre qui la contient. La nouvelle animation est interpolée par quatre locomotions correspondant aux quatre sommets du tétraèdre. On expose plusieurs scénarios d’animations sur un personnage virtuel.
Our motivation is to understand human locomotion to better control locomotion of virtual systems (robots and mannequins). Human locomotion has been studied so far in different disciplines. We consider locomotion as the level of a body frame (in direction and orientation) instead of the complexity of many kinematic joints systems as other approaches. Our approach concentrates on the computational foundation of human locomotion. The ultimate…
Advisors/Committee Members: Laumond, Jean-Paul (thesis director), Souères, Philippe (thesis director).
Subjects/Keywords: Locomotion humaine; Animation de locomotion; Mouvement holonome/nonholonome; Trajectoires de locomotion; Contrôleur de locomotion; Human locomotion; Locomotion animation; Lolonomic/nonholonomic motions; Locomotor trajectories; Locomotion controller
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APA (6th Edition):
Truong, T. V. A. (2010). Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion. (Doctoral Dissertation). INP Toulouse. Retrieved from http://www.theses.fr/2010INPT0026
Chicago Manual of Style (16th Edition):
Truong, Tan Viet Anh. “Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion.” 2010. Doctoral Dissertation, INP Toulouse. Accessed November 17, 2019.
http://www.theses.fr/2010INPT0026.
MLA Handbook (7th Edition):
Truong, Tan Viet Anh. “Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion.” 2010. Web. 17 Nov 2019.
Vancouver:
Truong TVA. Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion. [Internet] [Doctoral dissertation]. INP Toulouse; 2010. [cited 2019 Nov 17].
Available from: http://www.theses.fr/2010INPT0026.
Council of Science Editors:
Truong TVA. Un modèle de locomotion humaine unifiant comportements holonomes et nonholonomes : Unifying nonholonomic and holonomic behaviors in human locomotion. [Doctoral Dissertation]. INP Toulouse; 2010. Available from: http://www.theses.fr/2010INPT0026
University of British Columbia
6.
Frith, Harold Russ.
Energetics of fast-starts in northern pike, Esox lucius
.
Degree: 1990, University of British Columbia
URL: http://hdl.handle.net/2429/30834
► Fast-starts are high powered events of short duration, used by fish for prey capture and escape from predation. Here, the energetic cost of fast-starts in…
(more)
▼ Fast-starts are high powered events of short duration, used by fish for prey capture and escape from predation. Here, the energetic cost of fast-starts in escape and prey capture for a fast-start specialist, the northern pike, Esox lucius, are determined and physiological and behavioural constraints assessed. This is done by comparing costs with literature values for physiological limits set my muscle mechanics and biochemistry, and comparing costs with other components of the energy budget.
The combination of high speed film analysis (200-250Hz) and hydrodynamic models are used to determine the mechanical costs, hydrodynamic efficiencies and power output of fast-starts in prey capture (S-starts) and escape behaviour (C-starts). Excess post-exercise oxygen consumption (EPOC) is used to estimate the metabolic cost of fast-starts.
A comparison of model predictions with required (acceleration) force estimates shows results are within 22% and similar to previous findings at lower film speeds. The caudal region including the caudal, dorsal and anal fins contribute the most to thrust (>90%) and the dorsal and anal fins contribute 28%. Due to the necessity for deceleration of fin sections during each tail beat, kinematics are not always optimal as predicted by the Weihs model.
Mechanical power output, hydrodynamic efficiency and kinematic parameters (maximum velocities and maximum angle of attack of the caudal fin) are determined for fast-starts during prey capture and escape. Hydrodynamic efficiency averages 0.37
(range: 0.34 to 0.39) for C-starts and 0.27 (range: 0.16 to 0.37) for S-starts. The acceleration of added mass contributes the most to power output at 39%. Power output and efficiency for S-starts are more variable than C-starts and hydromechanical efficiency increases with number of tail beats for S-starts. Maximum muscle power output and maximum muscle stress during fast-starts in comparison to literature values for muscle function shows muscle power output during fast-starts is at its physiological limit but muscle stress is not.
Metabolic efficiency is higher at 0.094 for C-starts than S-starts at 0.047. However, muscle efficiency estimates are similar averaging 0.252 for both fast-start types.
Mean energetic cost of fast-starts is determined to be 26.5 J/kg for C-starts and 18.6 J/kg for S-starts. Based on the observation that pike can repeatedly fast-start up to 170 times before becoming exhausted and on estimates of available energy reserves from literature values for ATP and CrP concentrations in white muscle, the duration of fast-starts is concluded to not be limited by muscle physiology. Average power output is found to be similar for C and S-starts at 406 to 412 W/kg. Only hydrolysis of ATP and CrP can supply energy at this rate. Therefore, based on fish white muscle biochemistry and mechanics, power output during fast-starts appears to be limited by muscle physiology.
The cost of fast-starts represents 0.03 to 2% of maintenance costs for pike and therefore only 5 to 30 fast-starts per day would…
Subjects/Keywords: Pike – Locomotion;
Esocidae – Locomotion;
Fishes – Locomotion
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APA (6th Edition):
Frith, H. R. (1990). Energetics of fast-starts in northern pike, Esox lucius
. (Thesis). University of British Columbia. Retrieved from http://hdl.handle.net/2429/30834
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Frith, Harold Russ. “Energetics of fast-starts in northern pike, Esox lucius
.” 1990. Thesis, University of British Columbia. Accessed November 17, 2019.
http://hdl.handle.net/2429/30834.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Frith, Harold Russ. “Energetics of fast-starts in northern pike, Esox lucius
.” 1990. Web. 17 Nov 2019.
Vancouver:
Frith HR. Energetics of fast-starts in northern pike, Esox lucius
. [Internet] [Thesis]. University of British Columbia; 1990. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/2429/30834.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Frith HR. Energetics of fast-starts in northern pike, Esox lucius
. [Thesis]. University of British Columbia; 1990. Available from: http://hdl.handle.net/2429/30834
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
The Ohio State University
7.
Sun, Shu-Shen.
A Theoretical study of gaits for legged locomotion systems
.
Degree: PhD, Graduate School, 1974, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1486979835070613
Subjects/Keywords: Engineering; Locomotion
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APA (6th Edition):
Sun, S. (1974). A Theoretical study of gaits for legged locomotion systems
. (Doctoral Dissertation). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1486979835070613
Chicago Manual of Style (16th Edition):
Sun, Shu-Shen. “A Theoretical study of gaits for legged locomotion systems
.” 1974. Doctoral Dissertation, The Ohio State University. Accessed November 17, 2019.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1486979835070613.
MLA Handbook (7th Edition):
Sun, Shu-Shen. “A Theoretical study of gaits for legged locomotion systems
.” 1974. Web. 17 Nov 2019.
Vancouver:
Sun S. A Theoretical study of gaits for legged locomotion systems
. [Internet] [Doctoral dissertation]. The Ohio State University; 1974. [cited 2019 Nov 17].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1486979835070613.
Council of Science Editors:
Sun S. A Theoretical study of gaits for legged locomotion systems
. [Doctoral Dissertation]. The Ohio State University; 1974. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1486979835070613
The Ohio State University
8.
Orin, David Edward.
Interactive control of a six-legged vehicle with
optimization of both stability and energy.
Degree: PhD, Graduate School, 1976, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1487000473414978
Subjects/Keywords: Engineering; Locomotion
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APA (6th Edition):
Orin, D. E. (1976). Interactive control of a six-legged vehicle with
optimization of both stability and energy. (Doctoral Dissertation). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1487000473414978
Chicago Manual of Style (16th Edition):
Orin, David Edward. “Interactive control of a six-legged vehicle with
optimization of both stability and energy.” 1976. Doctoral Dissertation, The Ohio State University. Accessed November 17, 2019.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1487000473414978.
MLA Handbook (7th Edition):
Orin, David Edward. “Interactive control of a six-legged vehicle with
optimization of both stability and energy.” 1976. Web. 17 Nov 2019.
Vancouver:
Orin DE. Interactive control of a six-legged vehicle with
optimization of both stability and energy. [Internet] [Doctoral dissertation]. The Ohio State University; 1976. [cited 2019 Nov 17].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1487000473414978.
Council of Science Editors:
Orin DE. Interactive control of a six-legged vehicle with
optimization of both stability and energy. [Doctoral Dissertation]. The Ohio State University; 1976. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1487000473414978
The Ohio State University
9.
Pai, Ammembal Lakshmana.
Stability and control of legged locomotion systems.
Degree: PhD, Graduate School, 1971, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1487343760226737
Subjects/Keywords: Engineering; Locomotion
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APA (6th Edition):
Pai, A. L. (1971). Stability and control of legged locomotion systems. (Doctoral Dissertation). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1487343760226737
Chicago Manual of Style (16th Edition):
Pai, Ammembal Lakshmana. “Stability and control of legged locomotion systems.” 1971. Doctoral Dissertation, The Ohio State University. Accessed November 17, 2019.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1487343760226737.
MLA Handbook (7th Edition):
Pai, Ammembal Lakshmana. “Stability and control of legged locomotion systems.” 1971. Web. 17 Nov 2019.
Vancouver:
Pai AL. Stability and control of legged locomotion systems. [Internet] [Doctoral dissertation]. The Ohio State University; 1971. [cited 2019 Nov 17].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1487343760226737.
Council of Science Editors:
Pai AL. Stability and control of legged locomotion systems. [Doctoral Dissertation]. The Ohio State University; 1971. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1487343760226737
The Ohio State University
10.
Pai, Ammembal Lakshmana.
Stability and control of legged locomotion systems.
Degree: PhD, Graduate School, 1971, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1486720781369803
Subjects/Keywords: Engineering; Locomotion
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APA ·
Chicago ·
MLA ·
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CSE |
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APA (6th Edition):
Pai, A. L. (1971). Stability and control of legged locomotion systems. (Doctoral Dissertation). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1486720781369803
Chicago Manual of Style (16th Edition):
Pai, Ammembal Lakshmana. “Stability and control of legged locomotion systems.” 1971. Doctoral Dissertation, The Ohio State University. Accessed November 17, 2019.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1486720781369803.
MLA Handbook (7th Edition):
Pai, Ammembal Lakshmana. “Stability and control of legged locomotion systems.” 1971. Web. 17 Nov 2019.
Vancouver:
Pai AL. Stability and control of legged locomotion systems. [Internet] [Doctoral dissertation]. The Ohio State University; 1971. [cited 2019 Nov 17].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1486720781369803.
Council of Science Editors:
Pai AL. Stability and control of legged locomotion systems. [Doctoral Dissertation]. The Ohio State University; 1971. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1486720781369803
University of Alberta
11.
Olsen, Fraser G.
The V0 Interneurons: First-Order Interneurons of the
Locomotor CPG?.
Degree: MS, Centre for Neuroscience, 2011, University of Alberta
URL: https://era.library.ualberta.ca/files/tb09j709f
► The locomotor Central Pattern Generator (CPG) is a neuronal network capable of producing rhythmic locomotor output independent of sensory or descending input. Attempts to identify…
(more)
▼ The locomotor Central Pattern Generator (CPG) is a
neuronal network capable of producing rhythmic locomotor output
independent of sensory or descending input. Attempts to identify
component interneurons of the CPG have been aided by the discovery
of transcription factors that are expressed by discrete interneuron
populations during development. The V0 interneuron population is
defined by the expression of the transcription factor Dbx1. Herein
I test the hypothesis that V0 interneurons are first-order cells of
the locomotor CPG responsible for initiating rhythmic locomotor
activity. Anatomical tracing from brainstem sites known to be
responsible for the initiation of locomotion reveal that these
regions make monosynaptic connections onto V0 cells.
Immunohistochemistry demonstrates that V0 cells express 5-HT7 and
5-HT2A receptors, previously shown to be required for locomotor
initiation. Taken together these results support the hypothesis
that V0 interneurons are first-order interneurons of the locomotor
CPG responsible for initiating locomotion.
Subjects/Keywords: CPG; Locomotion; V0; Interneuron
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APA (6th Edition):
Olsen, F. G. (2011). The V0 Interneurons: First-Order Interneurons of the
Locomotor CPG?. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/tb09j709f
Chicago Manual of Style (16th Edition):
Olsen, Fraser G. “The V0 Interneurons: First-Order Interneurons of the
Locomotor CPG?.” 2011. Masters Thesis, University of Alberta. Accessed November 17, 2019.
https://era.library.ualberta.ca/files/tb09j709f.
MLA Handbook (7th Edition):
Olsen, Fraser G. “The V0 Interneurons: First-Order Interneurons of the
Locomotor CPG?.” 2011. Web. 17 Nov 2019.
Vancouver:
Olsen FG. The V0 Interneurons: First-Order Interneurons of the
Locomotor CPG?. [Internet] [Masters thesis]. University of Alberta; 2011. [cited 2019 Nov 17].
Available from: https://era.library.ualberta.ca/files/tb09j709f.
Council of Science Editors:
Olsen FG. The V0 Interneurons: First-Order Interneurons of the
Locomotor CPG?. [Masters Thesis]. University of Alberta; 2011. Available from: https://era.library.ualberta.ca/files/tb09j709f
12.
Papaioannou, George.
A three dimensional mathematical model of the human knee.
Degree: 1999, University of Strathclyde
URL: http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143
;
http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248556
► Muscle and joint force during locomotion is estimated according to available formulations consistent with available methods of solving the indeterminate problem. In the case of…
(more)
▼ Muscle and joint force during locomotion is estimated according to available formulations consistent with available methods of solving the indeterminate problem. In the case of the knee joint direct comparisons of results between several optimization methods proposed in the literature presents difficulties due to largely varying model formulation, input data, algorithms and other issues. The application presented here introduces a new optimization program which includes linear and non-linear techniques allowing greater flexibility in problem formulation. It also increases the variety of cost functions under a unified solution which allows for direct evaluation of factors such as optimization criteria and constraints. The method demonstrates that nonlinear solutions lead to more synergistic activity and in contrast to linear formulations, allows antagonistic activity. Nonlinearity also improves concurrence of EMG activity and predicted forces. Higher joint force predictions are resulting as expected from improved predictions of synergistic-antagonistic activity. The formulation allows for relaxation of the requirement that muscles resolve the entire intersegmental moment which in turn maintains muscle synergism in the nonlinear formulation while relieving muscle antagonism and reducing the predicted joint contact force. These methods allow for more possibilities for exploring new optimization formulations and in comparing the solutions to previously reported formulation. The present study based its input data on healthy subjects volunteering for a variety of walking tasks involving normal walking and turning during walking. Muscle and joint contact forces agree with other published results and the lateral: medial bony contact force distribution is calculated as 1: 2.5.
Subjects/Keywords: 571.4; Locomotion
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APA (6th Edition):
Papaioannou, G. (1999). A three dimensional mathematical model of the human knee. (Doctoral Dissertation). University of Strathclyde. Retrieved from http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248556
Chicago Manual of Style (16th Edition):
Papaioannou, George. “A three dimensional mathematical model of the human knee.” 1999. Doctoral Dissertation, University of Strathclyde. Accessed November 17, 2019.
http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248556.
MLA Handbook (7th Edition):
Papaioannou, George. “A three dimensional mathematical model of the human knee.” 1999. Web. 17 Nov 2019.
Vancouver:
Papaioannou G. A three dimensional mathematical model of the human knee. [Internet] [Doctoral dissertation]. University of Strathclyde; 1999. [cited 2019 Nov 17].
Available from: http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248556.
Council of Science Editors:
Papaioannou G. A three dimensional mathematical model of the human knee. [Doctoral Dissertation]. University of Strathclyde; 1999. Available from: http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=21143 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.248556
University of Alberta
13.
Montgomery, Emaline M.
The size dependence of sea star locomotion: Does bigger mean
faster?.
Degree: MS, Department of Biological Sciences, 2013, University of Alberta
URL: https://era.library.ualberta.ca/files/cz30pv11r
► As a general rule, larger-bodied animals within a species move at faster absolute speeds independently of locomotive mode. The relationship between body size and speed…
(more)
▼ As a general rule, larger-bodied animals within a
species move at faster absolute speeds independently of locomotive
mode. The relationship between body size and speed in sea stars is
decidedly less clear. One species of sea star follows the general
trend, three species show no correlation between body size and
speed, and one species exhibits the opposite relation. To address
these puzzling observations, I quantified body size, body shape,
and crawling speed in four previously unstudied species of
Northeast Pacific sea stars: the multi-armed stars Pycnopodia
helianthoides and Solaster stimpsoni, and the fixed-arm number
Dermasterias imbricata and Leptasterias hexactis. Only L. hexactis
exhibited statistically significant allometries in arm width, arm
length, and oral disk. When correlating measures body size with
crawling speeds, larger individuals within the multi-armed species
were faster - but larger individuals of fixed-arm species crawled
slower. Crawling speed differences between plastic and fine sand
differed among species.
Subjects/Keywords: locomotion; body size; echinodermata
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APA (6th Edition):
Montgomery, E. M. (2013). The size dependence of sea star locomotion: Does bigger mean
faster?. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/cz30pv11r
Chicago Manual of Style (16th Edition):
Montgomery, Emaline M. “The size dependence of sea star locomotion: Does bigger mean
faster?.” 2013. Masters Thesis, University of Alberta. Accessed November 17, 2019.
https://era.library.ualberta.ca/files/cz30pv11r.
MLA Handbook (7th Edition):
Montgomery, Emaline M. “The size dependence of sea star locomotion: Does bigger mean
faster?.” 2013. Web. 17 Nov 2019.
Vancouver:
Montgomery EM. The size dependence of sea star locomotion: Does bigger mean
faster?. [Internet] [Masters thesis]. University of Alberta; 2013. [cited 2019 Nov 17].
Available from: https://era.library.ualberta.ca/files/cz30pv11r.
Council of Science Editors:
Montgomery EM. The size dependence of sea star locomotion: Does bigger mean
faster?. [Masters Thesis]. University of Alberta; 2013. Available from: https://era.library.ualberta.ca/files/cz30pv11r
Hong Kong University of Science and Technology
14.
Leung, Chun Yin.
Improve walking module with path planning for NAO robot.
Degree: 2013, Hong Kong University of Science and Technology
URL: https://doi.org/10.14711/thesis-b1255635
;
http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html
► Bipedal humanoid walking behavior is a very hot topic in robotics research. It is a challenging topic for humanoid robots as various factors ranging from…
(more)
▼ Bipedal humanoid walking behavior is a very hot topic in robotics research. It is a challenging topic for humanoid robots as various factors ranging from mechanic design of the robot to the system dynamics will affect how well the robot walks. In the other research, the mechanical structure of the robot can be easily changed in order to fit for the application and the research purpose. However, as the requirement in the standard platform league of Roboup, the NAO robot hardware cannot be modified and change. The improvement of the NAO robot walking can only be done by improving the embedded software. In this thesis research, the objective is to develop a walking module for the NAO Robot. The proposed walking module must be Omni-directional. Every walking motions are fluent and without stopping between each transactions. It must be stable and maintain balance when walking and walk faster than the original behavior. Even there exist external disturbances, such as pushes, the proposed walking module can still keep the NAO robot stable. The proposed algorithm of the walking module is using several of mathematics models like Dubins curve, Bezier curve and experiments in order to improve the walking efficiency. Also, forward and inverse kinematics has been adopted to improve the stability and precision of the robot moving. The testing result showed that there is over 100% improvement in the walking speed and greatly improve the stability of the robot to resist external disturbances.
Subjects/Keywords: Autonomous robots; Locomotion; Automatic control
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Manager
APA (6th Edition):
Leung, C. Y. (2013). Improve walking module with path planning for NAO robot. (Thesis). Hong Kong University of Science and Technology. Retrieved from https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Leung, Chun Yin. “Improve walking module with path planning for NAO robot.” 2013. Thesis, Hong Kong University of Science and Technology. Accessed November 17, 2019.
https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Leung, Chun Yin. “Improve walking module with path planning for NAO robot.” 2013. Web. 17 Nov 2019.
Vancouver:
Leung CY. Improve walking module with path planning for NAO robot. [Internet] [Thesis]. Hong Kong University of Science and Technology; 2013. [cited 2019 Nov 17].
Available from: https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Leung CY. Improve walking module with path planning for NAO robot. [Thesis]. Hong Kong University of Science and Technology; 2013. Available from: https://doi.org/10.14711/thesis-b1255635 ; http://repository.ust.hk/ir/bitstream/1783.1-62322/1/th_redirect.html
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Case Western Reserve University
15.
Doorly, Nicole C.
A Neuromechanical Model for Cockroach Locomotion.
Degree: MSs, EMC - Mechanical Engineering, 2011, Case Western Reserve University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=case1291140045
► Robotic models can be used to better understand complex biological systems. For this project, a robotic model of the left mesothoracic (middle) cockroach (Blaberus discoidalis)…
(more)
▼ Robotic models can be used to better understand
complex biological systems. For this project, a robotic model of
the left mesothoracic (middle) cockroach (Blaberus discoidalis) leg
was built to explore the dynamics of the neuromechanical system
underlying insect
locomotion. The robotic hardware was designed to
represent—as accurately as possible—cockroach morphology. To
improve on previous robotic models of the cockroach leg, the
Trochanter-Femur joint was added. Control of the robotic leg was
designed to represent hypothesized neural connections in the
cockroach—this controller was adapted from observed neural
connections in the stick insect leg. The model was capable of
generating stable locomotive actions (i.e. forward stepping and
inside turning) and analysis of joint movements showed significant
similarities to actual cockroach behavior. Finally, experiments
addressing step frequency and behavioral transitioning showed the
power of the model as a hypothesis-testing tool for
biologists.
Advisors/Committee Members: Quinn, Roger (Advisor).
Subjects/Keywords: Robots; robotics; insect locomotion; modeling
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APA (6th Edition):
Doorly, N. C. (2011). A Neuromechanical Model for Cockroach Locomotion. (Masters Thesis). Case Western Reserve University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=case1291140045
Chicago Manual of Style (16th Edition):
Doorly, Nicole C. “A Neuromechanical Model for Cockroach Locomotion.” 2011. Masters Thesis, Case Western Reserve University. Accessed November 17, 2019.
http://rave.ohiolink.edu/etdc/view?acc_num=case1291140045.
MLA Handbook (7th Edition):
Doorly, Nicole C. “A Neuromechanical Model for Cockroach Locomotion.” 2011. Web. 17 Nov 2019.
Vancouver:
Doorly NC. A Neuromechanical Model for Cockroach Locomotion. [Internet] [Masters thesis]. Case Western Reserve University; 2011. [cited 2019 Nov 17].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=case1291140045.
Council of Science Editors:
Doorly NC. A Neuromechanical Model for Cockroach Locomotion. [Masters Thesis]. Case Western Reserve University; 2011. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=case1291140045
The Ohio State University
16.
Liu, Yiping.
A Dual-SLIP Model For Dynamic Walking In A Humanoid Over
Uneven Terrain.
Degree: PhD, Electrical and Computer Engineering, 2015, The Ohio State University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1440784430
► Control of 3D dynamic walking in bipedal legged machines or humanoid robots remains a challenging problem. To address the complexity brought by the high degrees…
(more)
▼ Control of 3D dynamic walking in bipedal legged
machines or humanoid robots remains a challenging problem. To
address the complexity brought by the high degrees of freedom
(DoFs) in the target system, very often a simple template model is
used as an intermediate bridge. A template model is typically much
simpler, but can still capture the key characteristics of the
dynamics of a particular motion. Usually, a control policy is first
developed to regulate the behavior of the template model, then
resultant trajectories of the template model are mapped to the
whole-body motion of the more complex robot through some
optimization-based task-space control strategies. Currently, the
most widely used walking template is the Linear Inverted Pendulum
Model (LIPM). It has gained popularity due to its simple linearized
dynamics, and walking controllers based on the LIPM have had some
success. However, the resultant walking gaits from the LIPM miss
some of the dynamics that can lead to more efficient gaits such as
those in a human. This is due in part to its constant height
assumption and the lack of a double support phase. Recently, an
alternative walking template called the Dual-SLIP (spring-loaded
inverted pendulum) model (or Bipedal SLIP model) has been proposed.
This model has its roots in biomechanics studies. With leg
compliance it can faithfully reproduce the ground reaction force
(GRF) patterns and center of mass (CoM) vertical oscillations
observed during human walking. Also its bipedal nature allows it to
seamlessly integrate the double support phase during walking. It
even has the potential to become a general template that can model
both walking and running. Some analyses and control strategies have
been developed around this new template. However, almost all the
studies are limited to the 2D version of this model. The behavior
of the 3D Dual-SLIP model is much more difficult to regulate than
its 2D counterpart. And the problem is accentuated when walking
over uneven terrain, especially with step height uncertainty.
However, to actually use this model as a walking template for a
humanoid, the 3D extension is necessary. With such motivation, this
thesis is dedicated to develop a dynamic walking controller for a
humanoid based on the 3D Dual-SLIP model while traversing uneven
terrain. The development is divided into three stages. In the first
stage the focus is on 3D walking over flat ground. A new
optimization-based approach is proposed to find periodic walking
gaits. Through analysis of the dynamics of the 3D Dual-SLIP model,
a novel symmetry condition has been identified that is used to
greatly simplify the optimization process. It has also been found
during the study that the regular conservative 3D Dual-SLIP model
is not capable of generating forward walking at speeds faster than
1.4 m/s (assuming a leg length of 1 m). To address this limitation,
a variant of the regular Dual-SLIP model, the actuated Dual-SLIP,
is introduced to address high-speed walking. With bio-inspired leg
actuation, the model can walk up to 2…
Advisors/Committee Members: Orin, David (Advisor).
Subjects/Keywords: Robotics; humanoid and bipedal locomotion
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APA ·
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APA (6th Edition):
Liu, Y. (2015). A Dual-SLIP Model For Dynamic Walking In A Humanoid Over
Uneven Terrain. (Doctoral Dissertation). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1440784430
Chicago Manual of Style (16th Edition):
Liu, Yiping. “A Dual-SLIP Model For Dynamic Walking In A Humanoid Over
Uneven Terrain.” 2015. Doctoral Dissertation, The Ohio State University. Accessed November 17, 2019.
http://rave.ohiolink.edu/etdc/view?acc_num=osu1440784430.
MLA Handbook (7th Edition):
Liu, Yiping. “A Dual-SLIP Model For Dynamic Walking In A Humanoid Over
Uneven Terrain.” 2015. Web. 17 Nov 2019.
Vancouver:
Liu Y. A Dual-SLIP Model For Dynamic Walking In A Humanoid Over
Uneven Terrain. [Internet] [Doctoral dissertation]. The Ohio State University; 2015. [cited 2019 Nov 17].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1440784430.
Council of Science Editors:
Liu Y. A Dual-SLIP Model For Dynamic Walking In A Humanoid Over
Uneven Terrain. [Doctoral Dissertation]. The Ohio State University; 2015. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1440784430
Texas A&M University
17.
Geetha Byju, Achu.
Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance.
Degree: MS, Biomedical Engineering, 2016, Texas A&M University
URL: http://hdl.handle.net/1969.1/158639
► Tripping is responsible for a large percentage of falls. Minimum toe clearance (MTC) during the swing phase of gait is commonly used to infer the…
(more)
▼ Tripping is responsible for a large percentage of falls. Minimum toe clearance (MTC) during the swing phase of gait is commonly used to infer the probability of tripping (POT). However, there is limited empirical evidence to support the relationship between these two variables, and other measures of toe trajectory may better predict POT than MTC. The goals of this study were to: 1) quantify the relationship between MTC and POT; and 2) explore alternative measures of toe trajectory that may predict POT more accurately than MTC.
POT was estimated by comparing the distribution of obstacles measured along heavily-used, paved sidewalks on a university campus to the toe trajectory of 40 young adults obtained while walking over an obstacle-free walkway in a research laboratory. POT exhibited a curvilinear relationship with MTC, and regression equations were established to predict POT from MTC. POT was more accurately predicted when using virtual points on the bottom of the anterior edge of the shoe to determine MTC, compared to using a physical marker located on top of the toes to determine MTC. POT was also more accurately predicted when using a new measure of toe trajectory (the area below 40mm and above the toe trajectory, normalized by the swing length), compared to just MTC. These are the first empirical results supporting a relationship between MTC and POT. These results may improve the ability to identify risk factors that influence POT, and aid in developing interventions to reduce POT.
Advisors/Committee Members: Madigan, Michael L (advisor), Hur, Pilwon (committee member), Jafari, Roozbeh (committee member).
Subjects/Keywords: biomechanics; trips; falls; gait; locomotion
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to Zotero / EndNote / Reference
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APA (6th Edition):
Geetha Byju, A. (2016). Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/158639
Chicago Manual of Style (16th Edition):
Geetha Byju, Achu. “Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance.” 2016. Masters Thesis, Texas A&M University. Accessed November 17, 2019.
http://hdl.handle.net/1969.1/158639.
MLA Handbook (7th Edition):
Geetha Byju, Achu. “Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance.” 2016. Web. 17 Nov 2019.
Vancouver:
Geetha Byju A. Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance. [Internet] [Masters thesis]. Texas A&M University; 2016. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/1969.1/158639.
Council of Science Editors:
Geetha Byju A. Alternative Measures of Toe Trajectory More Accurately Predict the Probability of Tripping than Minimum Toe Clearance. [Masters Thesis]. Texas A&M University; 2016. Available from: http://hdl.handle.net/1969.1/158639
University of Victoria
18.
Lewis, Allen.
Effect of stability context on cutaneous reflex modulation during treadmill walking.
Degree: School of Exercise Science, Physical and Health Education, 2011, University of Victoria
URL: http://hdl.handle.net/1828/3388
► Reflex control during walking has been shown to be specific to the behavioural context of a postural threat. Reflex modulation has been shown to be…
(more)
▼ Reflex control during walking has been shown to be specific to the behavioural context of a postural threat. Reflex modulation has been shown to be influenced by perturbations to the trunk, as well as by changes to arm activity that further affected the level of postural threat. The magnitudes of EMG responses in limbs and trunk to mechanical trip perturbations were differentially modulated depending on whether or not an earth- referenced railing was held. To further understand the neural control of limb and trunk muscles during walking contexts where changes to postural stability are solely linked to arm activity, we created 3 treadmill walking tasks each with the arms engaged differently to induce three levels of postural stability. Neurologically-intact participants walked on a treadmill using normal arm swing (NORMAL), holding a wheeled walker (WALKER), or holding the handrails (HANDRAIL). Subjects ranked the tasks according to degree of perceived challenge to stability; WALKER was ranked most challenging, followed by NORMAL and then HANDRAIL. Cutaneous reflexes were evoked via constant current stimulation (5 x 1.0 ms pulses at 300 Hz) of Superficial Peroneal (SP) nerve at the foot and Superficial Radial (SR) nerve at the wrist in separate trials during each walking task. EMG was recorded ipsilateral to nerve stimulation from arm and leg muscles and bilaterally from trunk muscles. Off-line analysis was conducted on eight phases of the step cycle after phase-averaging, contingent upon the timing of stimulation in the step cycle. The number of differences in bEMG and reflexes between tasks was graded with the proximity to the source of instability at the arms, progressively increasing from the legs to the arms. The gradient in bEMG differences suggests that the mechanical constraints of each task required different levels of muscle activation that was greatest for the arms, less for the trunk and least for the legs. The similar gradient seen for reflexes suggests functionally relevant changes in neural control of arm and trunk muscles in order to maintain postural stability during in each task. However, overall there were significantly fewer differences in reflexes between tasks compared to bEMG. We suggest that the mechanical constraints of the tasks yielded more significant changes in the muscle activation while requiring far fewer task-specific changes in reflex control suggesting a conservation of some elements of the neural control mechanisms across tasks.
Advisors/Committee Members: Zehr, E. Paul (supervisor), Hundza, Sandra R. (supervisor).
Subjects/Keywords: Human locomotion; reflexes; modulation
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APA (6th Edition):
Lewis, A. (2011). Effect of stability context on cutaneous reflex modulation during treadmill walking. (Masters Thesis). University of Victoria. Retrieved from http://hdl.handle.net/1828/3388
Chicago Manual of Style (16th Edition):
Lewis, Allen. “Effect of stability context on cutaneous reflex modulation during treadmill walking.” 2011. Masters Thesis, University of Victoria. Accessed November 17, 2019.
http://hdl.handle.net/1828/3388.
MLA Handbook (7th Edition):
Lewis, Allen. “Effect of stability context on cutaneous reflex modulation during treadmill walking.” 2011. Web. 17 Nov 2019.
Vancouver:
Lewis A. Effect of stability context on cutaneous reflex modulation during treadmill walking. [Internet] [Masters thesis]. University of Victoria; 2011. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/1828/3388.
Council of Science Editors:
Lewis A. Effect of stability context on cutaneous reflex modulation during treadmill walking. [Masters Thesis]. University of Victoria; 2011. Available from: http://hdl.handle.net/1828/3388
University of Otago
19.
Chyou, Te-yuan.
Passive dynamics in animal locomotion
.
Degree: 2012, University of Otago
URL: http://hdl.handle.net/10523/2663
► For decades, biologists believed that animals walk because the brain calculates motion trajectories for their limbs. However, an alternative hypothesis on animal locomotion suggests the…
(more)
▼ For decades, biologists believed that animals walk because the brain calculates motion trajectories for their limbs. However, an alternative hypothesis on animal
locomotion suggests the opposite. The animal framework is built to walk “naturally” and the dynamics work without relying on controls. Instead, the walking gait is simply generated by the interaction of gravity and inertia, establishing a stable, naturally emerging limit-cycle known as passive dynamic walking. The feasibility of passive dynamic walking has been demonstrated for a biped system consisting of only a pair of legs. This thesis examines full-body passive dynamic walking models with simple and animal-like mechanical linkages that can generate walking gaits using only gravity that are able to recover from small perturbations without the need for controller input. The contribution of a torso to the stability and efficiency of passive biped walking is also addressed. When an upper-body is added, passive dynamic walking takes place on level ground but for energetic reasons, it is unstable. The second part of the thesis looks at how to stabilize the passive walking trajectory on level ground in a physically feasible and biologically relevant way. Findings suggest that the role of
locomotion control is to provide stability, rather than drive the limb onto a pre-calculated trajectory.
Advisors/Committee Members: Paulin, Mike (advisor).
Subjects/Keywords: passive dynamics;
animal locomotion;
biomechanics
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APA (6th Edition):
Chyou, T. (2012). Passive dynamics in animal locomotion
. (Doctoral Dissertation). University of Otago. Retrieved from http://hdl.handle.net/10523/2663
Chicago Manual of Style (16th Edition):
Chyou, Te-yuan. “Passive dynamics in animal locomotion
.” 2012. Doctoral Dissertation, University of Otago. Accessed November 17, 2019.
http://hdl.handle.net/10523/2663.
MLA Handbook (7th Edition):
Chyou, Te-yuan. “Passive dynamics in animal locomotion
.” 2012. Web. 17 Nov 2019.
Vancouver:
Chyou T. Passive dynamics in animal locomotion
. [Internet] [Doctoral dissertation]. University of Otago; 2012. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/10523/2663.
Council of Science Editors:
Chyou T. Passive dynamics in animal locomotion
. [Doctoral Dissertation]. University of Otago; 2012. Available from: http://hdl.handle.net/10523/2663
Clemson University
20.
Mayerl, Christopher James.
The Functional Significance of Structural Novelty in the Locomotor Apparatus of Turtles.
Degree: PhD, Biological Sciences, 2018, Clemson University
URL: https://tigerprints.clemson.edu/all_dissertations/2121
► The relationship between form and function can have profound impacts on the evolution and ecology of a lineage. Because of this relationship, variation in the…
(more)
▼ The relationship between form and function can have profound impacts on the evolution and ecology of a lineage. Because of this relationship, variation in the morphology of a lineage has often been linked to adaptive radiations. However, form-function relationships are not linear, and variation in morphology does not necessarily predict variation in function due to the pervasive presence of mechanical equivalence in physiological systems. This possibility is often investigated through the lens of biomechanics, which uses physical principles to create a framework for comparing different systems with similar mechanical behaviors. Turtles represent an excellent system for studying how variation in structure might impact function. All extant turtles have descended from an aquatic common ancestor, and can be differentiated into two clades: cryptodires and pleurodires. These two clades can be distinguished by their pelvic girdle morphology. Cryptodires have an ancestral pelvic girdle morphology where the pelvis articulates with the sacral vertebrae at a joint, whereas pleurodires possess a derived morphology in which the pelvic girdle has been fused to the shell. My dissertation investigates the functional role of pelvic girdle fusion in pleurodire turtles by studying functional differences in the musculoskeletal system between pleurodires and cryptodires, and then by investigating how these functional differences might impact performance in water and on land. First, I evaluate differences in girdle movements between cryptodire and pleurodire turtles using X-ray Reconstruction of Moving Morphology. Next, I examine how pelvic girdle fusion impacts muscle function and use during walking and swimming. Third, I studied the potential for this novel structure to influence swimming performance. Finally, I compare the bone loading regimes of pleurodires with cryptodires during terrestrial
locomotion. Data from these studies provide insight into the functional importance of novel structures and how they can impact the ecological and evolutionary history of lineages.
Advisors/Committee Members: Dr. Richard W. Blob, Committee Chair, Dr. Michael W. Sears, Dr. Margaret B. Ptacek, Dr. Gabriel Rivera.
Subjects/Keywords: Biomechanics; Locomotion; Turtle; XROMM
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APA (6th Edition):
Mayerl, C. J. (2018). The Functional Significance of Structural Novelty in the Locomotor Apparatus of Turtles. (Doctoral Dissertation). Clemson University. Retrieved from https://tigerprints.clemson.edu/all_dissertations/2121
Chicago Manual of Style (16th Edition):
Mayerl, Christopher James. “The Functional Significance of Structural Novelty in the Locomotor Apparatus of Turtles.” 2018. Doctoral Dissertation, Clemson University. Accessed November 17, 2019.
https://tigerprints.clemson.edu/all_dissertations/2121.
MLA Handbook (7th Edition):
Mayerl, Christopher James. “The Functional Significance of Structural Novelty in the Locomotor Apparatus of Turtles.” 2018. Web. 17 Nov 2019.
Vancouver:
Mayerl CJ. The Functional Significance of Structural Novelty in the Locomotor Apparatus of Turtles. [Internet] [Doctoral dissertation]. Clemson University; 2018. [cited 2019 Nov 17].
Available from: https://tigerprints.clemson.edu/all_dissertations/2121.
Council of Science Editors:
Mayerl CJ. The Functional Significance of Structural Novelty in the Locomotor Apparatus of Turtles. [Doctoral Dissertation]. Clemson University; 2018. Available from: https://tigerprints.clemson.edu/all_dissertations/2121
Montana Tech
21.
Flynn, Russell Thomas.
Kinesthetic perception of basketball players during the competitive season.
Degree: MS, 1964, Montana Tech
URL: https://scholarworks.umt.edu/etd/6371
Subjects/Keywords: Animal locomotion.
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APA (6th Edition):
Flynn, R. T. (1964). Kinesthetic perception of basketball players during the competitive season. (Masters Thesis). Montana Tech. Retrieved from https://scholarworks.umt.edu/etd/6371
Chicago Manual of Style (16th Edition):
Flynn, Russell Thomas. “Kinesthetic perception of basketball players during the competitive season.” 1964. Masters Thesis, Montana Tech. Accessed November 17, 2019.
https://scholarworks.umt.edu/etd/6371.
MLA Handbook (7th Edition):
Flynn, Russell Thomas. “Kinesthetic perception of basketball players during the competitive season.” 1964. Web. 17 Nov 2019.
Vancouver:
Flynn RT. Kinesthetic perception of basketball players during the competitive season. [Internet] [Masters thesis]. Montana Tech; 1964. [cited 2019 Nov 17].
Available from: https://scholarworks.umt.edu/etd/6371.
Council of Science Editors:
Flynn RT. Kinesthetic perception of basketball players during the competitive season. [Masters Thesis]. Montana Tech; 1964. Available from: https://scholarworks.umt.edu/etd/6371
University of Cambridge
22.
Giardina, Fabio Felice.
On the discretisation of actuation in locomotion : impulse- and shape-based modelling for hopping robots.
Degree: PhD, 2018, University of Cambridge
URL: https://www.repository.cam.ac.uk/handle/1810/275452
;
https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.744794
► In an age where computers challenge the smartest human beings in cognitive tasks, the conspicuous discrepancy between robot and animal locomotion appears paradoxical. While animals…
(more)
▼ In an age where computers challenge the smartest human beings in cognitive tasks, the conspicuous discrepancy between robot and animal locomotion appears paradoxical. While animals can move around autonomously in complex environments, today’s robots struggle to independently operate in such surroundings. There are many reasons for robots’ inferior performance, but arguably the most important one is our missing understanding of complexity. This thesis introduces the notion of discrete actuation for the study of locomotion in robots and animals. The actuation of a system with discrete actuation is restricted to be applied at a finite number of instants in time and is impulsive. We find that, despite their simplicity, such systems can predict various experimental observations and inspire novel technologies for robot design and control. We further find that, through the study of discrete actuation, causal relationships between actuation and resulting behaviour are revealed and become quantifiable, which relates the findings presented in this thesis to the broader concepts of complexity, self-organisation, and self-stability. We present four case studies in Chapters 3-6 which demonstrate how the concept of discrete actuation can be employed to understand the physics of locomotion and to facilitate novel robot technologies. We first introduce the impulsive eccentric wheel model which is a discretely actuated system for the study of hopping locomotion. We find that the model predicts robot hopping trajectories and animal related hopping characteristics by reducing the dynamics of hopping–usually described by hybrid differential equations–to analytic maps. The reduction of complexity of the model equations reveals the underlying physics of the locomotion process, and we identify the importance of robot shape and mass distribution for the locomotion performance. As a concrete application of the model, we compare the energetics of hopping and rolling locomotion in environments with obstacles and find when it is better to hop than to roll, based on the fundamental physical principles we discover in the model analysis. The theoretical insights of this modelling approach enable new actuation techniques and design for robots which we display in Robbit; a robot that uses strictly convex foot shapes and rotational impulses to induce hopping locomotion. We show that such systems outperform hopping with non-strictly convex shapes in terms of energy effective and robust locomotion. A system with discrete actuation motivates the exploitation of shape and the environment to improve locomotion dynamics, which reveals advantageous effect of inelastic impacts between the robot foot and the environment. We support this idea with experimental results from the robot CaneBot which can change its foot shape to induce timed impacts with the environment. Even though inelastic impacts are commonly considered detrimental for locomotion dynamics, we show that their appropriate control improves the locomotion speed considerably. The findings presented…
Subjects/Keywords: Discrete Actuation; Robots; Locomotion; Modelling
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APA (6th Edition):
Giardina, F. F. (2018). On the discretisation of actuation in locomotion : impulse- and shape-based modelling for hopping robots. (Doctoral Dissertation). University of Cambridge. Retrieved from https://www.repository.cam.ac.uk/handle/1810/275452 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.744794
Chicago Manual of Style (16th Edition):
Giardina, Fabio Felice. “On the discretisation of actuation in locomotion : impulse- and shape-based modelling for hopping robots.” 2018. Doctoral Dissertation, University of Cambridge. Accessed November 17, 2019.
https://www.repository.cam.ac.uk/handle/1810/275452 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.744794.
MLA Handbook (7th Edition):
Giardina, Fabio Felice. “On the discretisation of actuation in locomotion : impulse- and shape-based modelling for hopping robots.” 2018. Web. 17 Nov 2019.
Vancouver:
Giardina FF. On the discretisation of actuation in locomotion : impulse- and shape-based modelling for hopping robots. [Internet] [Doctoral dissertation]. University of Cambridge; 2018. [cited 2019 Nov 17].
Available from: https://www.repository.cam.ac.uk/handle/1810/275452 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.744794.
Council of Science Editors:
Giardina FF. On the discretisation of actuation in locomotion : impulse- and shape-based modelling for hopping robots. [Doctoral Dissertation]. University of Cambridge; 2018. Available from: https://www.repository.cam.ac.uk/handle/1810/275452 ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.744794
McMaster University
23.
Wade, Mark.
The Nature of the Facilitative Effect of Locomotion on Scene Recognition.
Degree: MSc, 2010, McMaster University
URL: http://hdl.handle.net/11375/19186
► Scene recognition performance is reduced when an observer undergoes a viewpoint shift. However, the cost of a viewpoint shift is less when it is…
(more)
▼ Scene recognition performance is reduced when an observer undergoes a
viewpoint shift. However, the cost of a viewpoint shift is less when it is caused by
observer locomotion around a scene compared to scene rotation in front of a
stationary observer- a phenomenon called the facilitative effect of locomotion.
The present dissertation examined the characteristics of the facilitative effect of
locomotion, and the mechanism underlying its existence. In each of six
experiments, participants learned a spatial arrangement of five identical objects
positioned on top of a rotatable table. Participants were then blindfolded and one
object was relocated. Simultaneously, participants underwent a viewpoint shift of
various magnitudes. The blindfold was then removed and participants identified
which object had been moved. Chapter One showed that the facilitative effect of
locomotion is robust across a wide range of viewpoint shifts (Experiment la), and
that visual cues in the surrounding environment cannot account for this effect
(Experiment lb). The results of Chapter Two suggest that active control over the
viewpoint shift may partially account for the benefit of locomotion (Experiment
2a), specifically by providing participants with explicit knowledge regarding the
magnitude and direction of the viewpoint shift (Experiment 2b ). Finally, Chapter
Three showed that body-based cues available during locomotion (i .e.
proprioceptive, vestibular, etc.) facilitate performance beyond actively controlling
the viewpoint shift alone, and that those cues must be reliable and undisrupted to
confer a scene recognition advantage (Experiment 3a). On the other hand, simply remaining oriented within one's environment could not fully account for the
facilitative effect of locomotion (Experiment 3b ). These results provide an
integrative account of the characteristics and mechanism associated with the
facilitative effect of locomotion. Results are also discussed in the context of
current views on egocentric and object-based mental transformations.
Thesis
Master of Science (MSc)
Advisors/Committee Members: Sun, Hongjin, Psychology.
Subjects/Keywords: locomotion; scene recognition; mental transformation
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APA (6th Edition):
Wade, M. (2010). The Nature of the Facilitative Effect of Locomotion on Scene Recognition. (Masters Thesis). McMaster University. Retrieved from http://hdl.handle.net/11375/19186
Chicago Manual of Style (16th Edition):
Wade, Mark. “The Nature of the Facilitative Effect of Locomotion on Scene Recognition.” 2010. Masters Thesis, McMaster University. Accessed November 17, 2019.
http://hdl.handle.net/11375/19186.
MLA Handbook (7th Edition):
Wade, Mark. “The Nature of the Facilitative Effect of Locomotion on Scene Recognition.” 2010. Web. 17 Nov 2019.
Vancouver:
Wade M. The Nature of the Facilitative Effect of Locomotion on Scene Recognition. [Internet] [Masters thesis]. McMaster University; 2010. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/11375/19186.
Council of Science Editors:
Wade M. The Nature of the Facilitative Effect of Locomotion on Scene Recognition. [Masters Thesis]. McMaster University; 2010. Available from: http://hdl.handle.net/11375/19186
Université Catholique de Louvain
24.
Mauroy, Geoffrey.
Biomechanical modifications of running when approaching and jumping over an obstacle.
Degree: 2013, Université Catholique de Louvain
URL: http://hdl.handle.net/2078.1/134601
► The present work focused on running when leaping over an obstacle, ranging from a little barrier to a high hurdle, in recreational runners (RR) and…
(more)
▼ The present work focused on running when leaping over an obstacle, ranging from a little barrier to a high hurdle, in recreational runners (RR) and trained athletes (TA) and at different speeds. Four studies were performed from a global to a segmental approach. Experiments were realised on a 33 m long running track equipped with a 13 m long force plate. Runners were filmed by a high-speed camera. Results show that the velocity of progression increases from the fourth to the second step before the barrier, depending on the obstacle height, approaching velocity and level of expertise of the runner (RR vs TA). Moreover, we founded that the bouncing mechanism of running is modified during the two steps immediately preceding the barrier. During the contact period two steps before the barrier, a decrease of the torsional stiffness at the level of the knee and of the ankle induces a decrease of the leg-spring stiffness (kleg). Consequently the centre of mass of the runner (COM) is accelerated forward while remaining lower compared to steady-state running. During the last step before the barrier, the runner places the foot, from which he takes off, well in front of the body. During the contact, the increase of the torsional stiffness at the level of the knee and of the ankle induces an increase of the kleg. Consequently the COM is decelerated forward and elevated. During this phase, the leg-spring stores elastic energy and changes the direction of the velocity vector to release this energy in a vertical direction. The same strategy is used by TA and RR to cross an obstacle. However, TA optimise the mechanism of jumping by reducing the loss in the velocity of progression when crossing the obstacle and by limiting the vertical trajectory of the COM.
(MOTR - Sciences de la motricité) – UCL, 2013
Advisors/Committee Members: UCL - SSS/IONS - Institute of NeuroScience, UCL - Faculté des sciences de la motricité, Schepens, Bénédicte, Willems, Patrick, Francaux, Marc, Lejeune, Thierry, De Jaeger, Dominique, Defrance, Pierre, De Clercq, Dirk, Morin, Jean-Benoît.
Subjects/Keywords: Running; Obstacle; Jump; Stiffness; Locomotion
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APA (6th Edition):
Mauroy, G. (2013). Biomechanical modifications of running when approaching and jumping over an obstacle. (Thesis). Université Catholique de Louvain. Retrieved from http://hdl.handle.net/2078.1/134601
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Mauroy, Geoffrey. “Biomechanical modifications of running when approaching and jumping over an obstacle.” 2013. Thesis, Université Catholique de Louvain. Accessed November 17, 2019.
http://hdl.handle.net/2078.1/134601.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Mauroy, Geoffrey. “Biomechanical modifications of running when approaching and jumping over an obstacle.” 2013. Web. 17 Nov 2019.
Vancouver:
Mauroy G. Biomechanical modifications of running when approaching and jumping over an obstacle. [Internet] [Thesis]. Université Catholique de Louvain; 2013. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/2078.1/134601.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Mauroy G. Biomechanical modifications of running when approaching and jumping over an obstacle. [Thesis]. Université Catholique de Louvain; 2013. Available from: http://hdl.handle.net/2078.1/134601
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Virginia Tech
25.
Hills, Zachary Patrick.
Using Macro-Fiber Composite Actuators for Aquatic Locomotion.
Degree: MS, Mechanical Engineering, 2010, Virginia Tech
URL: http://hdl.handle.net/10919/42818
► The research presented herein aims to develop a bio-inspired swimming system for an autonomous underwater vehicle using Macro-Fiber Composite (MFC) actuators. The swimming system draws…
(more)
▼ The research presented herein aims to develop a bio-inspired swimming system for an autonomous underwater vehicle using Macro-Fiber Composite (MFC) actuators. The swimming system draws inspiration from the motion of carangiform fish, which limit their body motion while rapidly oscillating their caudal tail fin. The foundation for the bio-inspired swimming system is built upon a composite cantilever beam with MFC actuators in bimorph configuration. The MFC actuators excite the composite beam near its fundamental natural frequency to produce thrust as the vibration transfers momentum to the surrounding fluid. An analytical model that incorporates Euler-Bernoulli beam theory, linear piezoelectricity, and fluid mechanics is developed to predict the thrust generated by the beam vibration. Experimental testing is performed to verify aspects of, as well as recommend corrections to, the analytical model. A prototype carangiform swimmer is developed that employs a passive caudal tail fin to alter the vibratory motion of the system from a beam vibration mode to one more resembling carangiform swimming. This device is subjected to experimental testing to determine the swim speeds it is able to achieve. A maximum velocity of 90mm/s was observed when the system is excited at 900V. However, better performance may be achieved by increasing the excitation voltage.
Advisors/Committee Members: Inman, Daniel J. (committeechair), Priya, Shashank (committee member), Ross, Shane D. (committee member).
Subjects/Keywords: Locomotion; Carangiform; MFC; Piezoelectric
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APA (6th Edition):
Hills, Z. P. (2010). Using Macro-Fiber Composite Actuators for Aquatic Locomotion. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/42818
Chicago Manual of Style (16th Edition):
Hills, Zachary Patrick. “Using Macro-Fiber Composite Actuators for Aquatic Locomotion.” 2010. Masters Thesis, Virginia Tech. Accessed November 17, 2019.
http://hdl.handle.net/10919/42818.
MLA Handbook (7th Edition):
Hills, Zachary Patrick. “Using Macro-Fiber Composite Actuators for Aquatic Locomotion.” 2010. Web. 17 Nov 2019.
Vancouver:
Hills ZP. Using Macro-Fiber Composite Actuators for Aquatic Locomotion. [Internet] [Masters thesis]. Virginia Tech; 2010. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/10919/42818.
Council of Science Editors:
Hills ZP. Using Macro-Fiber Composite Actuators for Aquatic Locomotion. [Masters Thesis]. Virginia Tech; 2010. Available from: http://hdl.handle.net/10919/42818
Université Laval
26.
Bagna, Maimouna.
Utilisation des réflexes cutanés pour étudier les
mécanismes de la plasticité adaptative locomotrice chez
l'homme.
Degree: 2014, Université Laval
URL: http://hdl.handle.net/20.500.11794/25041
► Dans cette thèse, nous nous intéressons à la plasticité des voies réflexes chez l'homme, induite par l’adaptation du contrôle moteur de la marche suite à…
(more)
▼ Dans cette thèse, nous nous intéressons à la
plasticité des voies réflexes chez l'homme, induite par
l’adaptation du contrôle moteur de la marche suite à une
perturbation mécanique. Nous formulons l’hypothèse que cette
plasticité, induite dans les voies réflexes, peut être étudiée dans
le but de mieux comprendre les mécanismes adaptatifs mis en place
par le système nerveux central. Cependant, l’étude des
modifications des voies neuronales empruntées par les réflexes
exige une analyse à la fois sensible et robuste et une description
détaillée de ces réponses, ce que ne permettent pas les approches
classiques jusqu’ici utilisées. Dans une première étude présentée
dans cette thèse, nous avons développé une méthode robuste de
traitement de signal pour identifier et extraire les réflexes
cutanés de manière précise et systématique. L’approche proposée est
basée sur une analyse unitaire des réflexes, qui implique la
détection et la caractérisation de chaque réponse individuelle à la
stimulation. Dans l’étude 2, nous avons montré que l’adaptation de
la marche à un champ de force impliquait des mécanismes de
plasticité pré-motoneurale. Pour approfondir l’étude de ces
mécanismes impliqués pendant l’adaptation du contrôle moteur à un
champ de force, dans la troisième étude, nous avons analysé les
changements réflexes obtenus lors de la stimulation de trois nerfs
différents convergeant sur le même pool de motoneurones (Tibial
Antérieur). Les résultats de cette étude ont montré que les
circuits neuronaux empruntés par chacun de ces trois nerfs se
réorganisent de façon spécifique et que cette spécificité est
potentiellement due à une réorganisation au niveau des
interneurones spinaux, suggérant ainsi que ces derniers
constitueraient un site important de la plasticité induite par
l’adaptation à un champ de force. Pour tendre vers un contexte réel
de réadaptation, nous avons également comparé, dans une 4eme étude,
les changements dans les réflexes cutanés après la vibration du
corps chez des personnes ayant subit une lésion médullaire et des
participants en santé. Les résultats de cette étude ont montré que
les changements observés dans les voies réflexes diffèrent chez ces
deux populations, mais semblent avoir dans les deux cas, un effet
fonctionnellement positif sur la marche.
Advisors/Committee Members: Bouyer, Laurent, Richards, Carol L..
Subjects/Keywords: Plasticité neuronale; Réflexes; Locomotion humaine
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APA (6th Edition):
Bagna, M. (2014). Utilisation des réflexes cutanés pour étudier les
mécanismes de la plasticité adaptative locomotrice chez
l'homme. (Thesis). Université Laval. Retrieved from http://hdl.handle.net/20.500.11794/25041
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Bagna, Maimouna. “Utilisation des réflexes cutanés pour étudier les
mécanismes de la plasticité adaptative locomotrice chez
l'homme.” 2014. Thesis, Université Laval. Accessed November 17, 2019.
http://hdl.handle.net/20.500.11794/25041.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Bagna, Maimouna. “Utilisation des réflexes cutanés pour étudier les
mécanismes de la plasticité adaptative locomotrice chez
l'homme.” 2014. Web. 17 Nov 2019.
Vancouver:
Bagna M. Utilisation des réflexes cutanés pour étudier les
mécanismes de la plasticité adaptative locomotrice chez
l'homme. [Internet] [Thesis]. Université Laval; 2014. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/20.500.11794/25041.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Bagna M. Utilisation des réflexes cutanés pour étudier les
mécanismes de la plasticité adaptative locomotrice chez
l'homme. [Thesis]. Université Laval; 2014. Available from: http://hdl.handle.net/20.500.11794/25041
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Oregon
27.
Nakamura, Bryson.
Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions.
Degree: 2016, University of Oregon
URL: http://hdl.handle.net/1794/20544
► Lower-extremity amputees face numerous challenges when returning to daily activities. Amongst these challenges is the ability to safely and dynamically transition from one locomotor state…
(more)
▼ Lower-extremity amputees face numerous challenges when returning to daily activities. Amongst these challenges is the ability to safely and dynamically transition from one locomotor state to another. Switching between level-ground, ramp, and stair
locomotion poses an increased risk as lower-extremity functionality is compromised. Powered prosthetics have been proposed as a solution to this problem. Hypothetically, powered prosthetics would be able to return full functional to the amputated limb. The most common and successful source of information used in algorithms for lower-extremity prosthetics has been electromyography. However, in practice, amputees remain unable to easily actuate the mechanized joints of powered prostheses. Therefore, the current project aimed to identify myoelectric activation differences in lower-extremity musculature during the gait cycles preceding locomotor transition in able-bodied, trans-tibial, and trans-femoral subjects to assist efforts in developing robust classification algorithms for locomotor transitions. Analysis of electromyography was completed to determine if there were periods of activation where classification algorithms could utilize differences in myoelectric activation to appropriately control joint actuation in a subset of eight transitions that included level-ground
locomotion and switching to either ramp or stair
locomotion and vice versa. Ramp transitions were fundamentally similar to level-ground
locomotion and elicited no differences in myoelectric activation. Stair transitions were found to alter muscle activation patterns in able-body and trans-tibial subjects. Trans-femoral subjects differentiated from able-bodied and trans-tibial subjects due to increased recruitment pattern variability. These patterns are distinct and may suggest individual learning patterns within the trans-femoral amputee population. Further investigation of these patterns may be warranted. Findings within able-bodied and trans-tibial subjects suggest common transition based differences within each respective population. Trans-tibial classification algorithms may be developed to utilize this information, using schemes that are focused on important areas during the gait cycle.
Advisors/Committee Members: Hahn, Michael (advisor).
Subjects/Keywords: Amputee; Locomotion; Ramp; Stair; Transition
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APA ·
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MLA ·
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CSE |
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APA (6th Edition):
Nakamura, B. (2016). Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions. (Thesis). University of Oregon. Retrieved from http://hdl.handle.net/1794/20544
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Nakamura, Bryson. “Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions.” 2016. Thesis, University of Oregon. Accessed November 17, 2019.
http://hdl.handle.net/1794/20544.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Nakamura, Bryson. “Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions.” 2016. Web. 17 Nov 2019.
Vancouver:
Nakamura B. Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions. [Internet] [Thesis]. University of Oregon; 2016. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/1794/20544.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Nakamura B. Analysis of Unique Myoelectric Characteristics in Lower-Extremity Musculature During Locomotive State Transitions. [Thesis]. University of Oregon; 2016. Available from: http://hdl.handle.net/1794/20544
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Case Western Reserve University
28.
Yang, Emma Yunyi.
COMPARATIVE STUDY ON DROSOPHILA LARVAL LOCOMOTION AND
NEUROMUSCULAR JUNCTION MORPHOLOGY.
Degree: MSs, Biology, 2013, Case Western Reserve University
URL: http://rave.ohiolink.edu/etdc/view?acc_num=case1364945662
► Closely related Drosophila species are ideal models for understanding evolutionary processes. Here we characterize phenotypic variations in locomotion patterns and Neuromuscular Junction morphology within related…
(more)
▼ Closely related Drosophila species are ideal models
for understanding evolutionary processes. Here we characterize
phenotypic variations in
locomotion patterns and Neuromuscular
Junction morphology within related Drosophila species, D.
melanogaster, D. simulans, D. sechellia, D. pseudoobscura, and D.
busckii, and demonstrate possible mechanisms underlying these
phenotypic differences. We describe larval peristaltic crawling in
terms of speed, rate of contractions and dispersal efficiency.
Comparisons across species show species-specific pattern of larval
locomotion. Quantitative analyses on the NMJ anatomy reveal that
the pattern of NMJ morphology correlates with larval locomotor
behaviors, and suggests the observed differences in
locomotion may
be explained by variations in NMJ morphology. We also perform
hybrid studies to investigate the inheritance pattern of these
traits by using the sibling species D. melanogaster, D. simulans,
and D. sechellia. We are able to demonstrate that NMJ formation,
larval movement speed, and larval dispersal efficiency are
associated with X-linked genes, while the rate of peristaltic
contractions is maternally influenced.
Advisors/Committee Members: Mizutani, Claudia (Advisor), Burns, Jean (Committee Chair).
Subjects/Keywords: Biology; Neuromuscular Junction; Locomotion; Drosophila
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CSE |
Export
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APA (6th Edition):
Yang, E. Y. (2013). COMPARATIVE STUDY ON DROSOPHILA LARVAL LOCOMOTION AND
NEUROMUSCULAR JUNCTION MORPHOLOGY. (Masters Thesis). Case Western Reserve University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=case1364945662
Chicago Manual of Style (16th Edition):
Yang, Emma Yunyi. “COMPARATIVE STUDY ON DROSOPHILA LARVAL LOCOMOTION AND
NEUROMUSCULAR JUNCTION MORPHOLOGY.” 2013. Masters Thesis, Case Western Reserve University. Accessed November 17, 2019.
http://rave.ohiolink.edu/etdc/view?acc_num=case1364945662.
MLA Handbook (7th Edition):
Yang, Emma Yunyi. “COMPARATIVE STUDY ON DROSOPHILA LARVAL LOCOMOTION AND
NEUROMUSCULAR JUNCTION MORPHOLOGY.” 2013. Web. 17 Nov 2019.
Vancouver:
Yang EY. COMPARATIVE STUDY ON DROSOPHILA LARVAL LOCOMOTION AND
NEUROMUSCULAR JUNCTION MORPHOLOGY. [Internet] [Masters thesis]. Case Western Reserve University; 2013. [cited 2019 Nov 17].
Available from: http://rave.ohiolink.edu/etdc/view?acc_num=case1364945662.
Council of Science Editors:
Yang EY. COMPARATIVE STUDY ON DROSOPHILA LARVAL LOCOMOTION AND
NEUROMUSCULAR JUNCTION MORPHOLOGY. [Masters Thesis]. Case Western Reserve University; 2013. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=case1364945662
University of Waterloo
29.
Choudhury, Safwan.
Design and Gait Synthesis for a 3D Lower Body Humanoid.
Degree: 2013, University of Waterloo
URL: http://hdl.handle.net/10012/7170
► Bipedal locomotion is a challenging control engineering problem due to the non-linear dynamics and postural instability of the bipedal form. In addition to these challenges,…
(more)
▼ Bipedal locomotion is a challenging control engineering problem due to the non-linear dynamics and postural instability of the bipedal form. In addition to these challenges, some dynamical effects such as the ground reaction force are difficult to model accurately in simulation. To this end, it is essential to develop physical hardware to validate walking control strategies and gait generation methods. This thesis develops an on-line walking control strategy for humanoid robots and the electromechanical design of a physical platform for experimental validation.
The first part of the thesis presents the development of a 14 degrees-of-freedom (DOF) lower body humanoid robot. The initial electromechanical design of the proposed system is derived from dynamic modeling of a general multibody system. Kinematic trajectories for the lower body joints are extracted from motion captured human gait data to form the preliminary design specifications. The drivetrain components are selected by analyzing the mechanical power requirements, torque-speed profiles, efficiency and thermal characteristics of actuators. The supporting mechanical chassis and power transmission system are designed to raise the center-of-mass (to reduce the swinging inertia of each leg) while minimizing the overall weight of the system.
Refining the design of a complex multibody robotic system like the biped is an iterative process. The mechanical model of the system is transferred from Computer-Aided-Design (CAD) software to a dynamic simulator for analysis and the design is revised to improve performance. This iterative approach is necessary as small changes in the mechanical model can have significant impact on the overall dynamics of the system as well as implications for control design. A streamlined prototyping toolchain is developed in this thesis to extract the relevant kinematic/dynamic parameters of a mechanical system in CAD and automatically generate the equivalent system in a dynamic simulator. This toolchain is used to revise the electromechanical design and generate forward dynamics simulations.
The second portion of this thesis develops a novel walking control strategy for on-line gait synthesis for 3D bipedal robots based on Wight's Foot Placement Estimator (FPE) algorithm. This algorithm is used to determine the desired swing foot position on the ground to \emph{restore} balance for a 2D bipedal robot. The FPE algorithm is extended to the general 3D case by selecting a suitable plane in the desired direction of motion. Complete gait cycles are formed by combining a finite state machine with the 2D FPE solution along the selected plane. Gait initiation is accomplished by computing state-dependent task space trajectories on-line to produce a forward momentum along the selected plane. A whole-body motion control framework (Jacobian-based prioritized task space control scheme) tracks the task space trajectories and generates the appropriate joint level command for each state. The joint level commands are tracked by local high gain…
Subjects/Keywords: biped; gait; electromechanical; locomotion
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Choudhury, S. (2013). Design and Gait Synthesis for a 3D Lower Body Humanoid. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/7170
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Choudhury, Safwan. “Design and Gait Synthesis for a 3D Lower Body Humanoid.” 2013. Thesis, University of Waterloo. Accessed November 17, 2019.
http://hdl.handle.net/10012/7170.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Choudhury, Safwan. “Design and Gait Synthesis for a 3D Lower Body Humanoid.” 2013. Web. 17 Nov 2019.
Vancouver:
Choudhury S. Design and Gait Synthesis for a 3D Lower Body Humanoid. [Internet] [Thesis]. University of Waterloo; 2013. [cited 2019 Nov 17].
Available from: http://hdl.handle.net/10012/7170.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Choudhury S. Design and Gait Synthesis for a 3D Lower Body Humanoid. [Thesis]. University of Waterloo; 2013. Available from: http://hdl.handle.net/10012/7170
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Southern California
30.
Harbick, Kale.
Design and control of a two-mode monopod.
Degree: PhD, Computer Science (Robotics &
Automation), 2008, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/89555/rec/1854
► Legged machines can traverse terrain unreachable by wheels or tracks. Similarly running machines have capabilities that exceed those of walking machines. The running machines constructed…
(more)
▼ Legged machines can traverse terrain unreachable by
wheels or tracks. Similarly running machines have capabilities that
exceed those of walking machines. The running machines constructed
thus far have mainly served as existence proofs of various single
locomotion modes. In this thesis we present a robot design that
incorporates two
locomotion modes, hopping and scooting, with a
minimal number of actuators, and the added capability of being able
to transition between modes as needed. We develop controllers for
both modes and demonstrate their feasibility in simulation. We also
present experimental results for a scooting robot.
Advisors/Committee Members: Sukhatme, Gaurav S. (Committee Chair), Schaal, Stefan (Committee Member), McNitt-Gray, Jill L. (Committee Member).
Subjects/Keywords: locomotion; hopping
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Harbick, K. (2008). Design and control of a two-mode monopod. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/89555/rec/1854
Chicago Manual of Style (16th Edition):
Harbick, Kale. “Design and control of a two-mode monopod.” 2008. Doctoral Dissertation, University of Southern California. Accessed November 17, 2019.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/89555/rec/1854.
MLA Handbook (7th Edition):
Harbick, Kale. “Design and control of a two-mode monopod.” 2008. Web. 17 Nov 2019.
Vancouver:
Harbick K. Design and control of a two-mode monopod. [Internet] [Doctoral dissertation]. University of Southern California; 2008. [cited 2019 Nov 17].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/89555/rec/1854.
Council of Science Editors:
Harbick K. Design and control of a two-mode monopod. [Doctoral Dissertation]. University of Southern California; 2008. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/89555/rec/1854
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Open Access Theses and Dissertations