subject:(walking robot)

Brno University of Technology

1. Krajíček, Lukáš. Implementace řídicích členů pro mobilní kráčivý robot: Implementaion of the controllers of a mobile walking robot.

Degree: 2018, Brno University of Technology

URL: http://hdl.handle.net/11012/5167

► This diploma thesis deals with design and implementation of the controllers of a mobile walking robot. The advantage of these controllers are their kinematics and… (more)

Subjects/Keywords: chůze; kráčivý robot; walking gait; walking robot

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Krajíček, L. (2018). Implementace řídicích členů pro mobilní kráčivý robot: Implementaion of the controllers of a mobile walking robot. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/5167

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Krajíček, Lukáš. “Implementace řídicích členů pro mobilní kráčivý robot: Implementaion of the controllers of a mobile walking robot.” 2018. Thesis, Brno University of Technology. Accessed March 05, 2021. http://hdl.handle.net/11012/5167.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Krajíček, Lukáš. “Implementace řídicích členů pro mobilní kráčivý robot: Implementaion of the controllers of a mobile walking robot.” 2018. Web. 05 Mar 2021.

Vancouver:

Krajíček L. Implementace řídicích členů pro mobilní kráčivý robot: Implementaion of the controllers of a mobile walking robot. [Internet] [Thesis]. Brno University of Technology; 2018. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/11012/5167.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Krajíček L. Implementace řídicích členů pro mobilní kráčivý robot: Implementaion of the controllers of a mobile walking robot. [Thesis]. Brno University of Technology; 2018. Available from: http://hdl.handle.net/11012/5167

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brno University of Technology

2. Szabari, Mikuláš. Konstrukce kráčejícího mobilního robotu: Design of walking mobile robot.

Degree: 2019, Brno University of Technology

URL: http://hdl.handle.net/11012/83508

► The diploma thesis deals with the construction of a walking mobile robot, which is intended for passing through a rugged or forest terrain, whose task… (more)

Subjects/Keywords: kráčajúci robot; mobilný robot; technológia kráčania; konštrukcia kráčajúceho robota; dvojnohý robot; štvornohý robot; šesťnohý robot; zbierajúci robot; walking robot; mobile robot; tegnology of walking; design of walking robot; bipedal robot; four legged robot; hexapod robot; collecting robot

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Szabari, M. (2019). Konstrukce kráčejícího mobilního robotu: Design of walking mobile robot. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/83508

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Szabari, Mikuláš. “Konstrukce kráčejícího mobilního robotu: Design of walking mobile robot.” 2019. Thesis, Brno University of Technology. Accessed March 05, 2021. http://hdl.handle.net/11012/83508.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Szabari, Mikuláš. “Konstrukce kráčejícího mobilního robotu: Design of walking mobile robot.” 2019. Web. 05 Mar 2021.

Vancouver:

Szabari M. Konstrukce kráčejícího mobilního robotu: Design of walking mobile robot. [Internet] [Thesis]. Brno University of Technology; 2019. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/11012/83508.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Szabari M. Konstrukce kráčejícího mobilního robotu: Design of walking mobile robot. [Thesis]. Brno University of Technology; 2019. Available from: http://hdl.handle.net/11012/83508

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

NSYSU

3. Huang, Pei-lun. Design and Implementation of an Intelligent Walking-aid Mobile Robot System.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2013, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0809113-175942

► The main purpose of the thesis is to design a multi-function intelligent walking-aid mobile robot which can assist an individual people in walking. The robot… (more)

Subjects/Keywords: remote monitoring; intention; ANFIS; walking-aid; robot

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Huang, P. (2013). Design and Implementation of an Intelligent Walking-aid Mobile Robot System. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0809113-175942

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Huang, Pei-lun. “Design and Implementation of an Intelligent Walking-aid Mobile Robot System.” 2013. Thesis, NSYSU. Accessed March 05, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0809113-175942.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Huang, Pei-lun. “Design and Implementation of an Intelligent Walking-aid Mobile Robot System.” 2013. Web. 05 Mar 2021.

Vancouver:

Huang P. Design and Implementation of an Intelligent Walking-aid Mobile Robot System. [Internet] [Thesis]. NSYSU; 2013. [cited 2021 Mar 05]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0809113-175942.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Huang P. Design and Implementation of an Intelligent Walking-aid Mobile Robot System. [Thesis]. NSYSU; 2013. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0809113-175942

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

4. Moerdijk, M.M. (author). Learning to walk using minimum prior knowledge: And a small hexapod robot.

Degree: 2013, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:fafd5dd4-653c-4b39-965f-c48707a2c1ca

►

Future robotic systems are expected to be so complex, that the required information – or prior knowledge – to program them is not always available… (more)

▼

Future robotic systems are expected to be so complex, that the required information – or prior knowledge – to program them is not always available and has thus to be discovered in an alternative way. This can be done using Reinforcement Learning (RL) algorithms, that learn from experience. This way of programming can also be beneficial for current robotic systems. For example robots where small changes in the hardware due to: design evolutions, repairs or production tolerances require updates to the control algorithms. A algorithm that learns to complete a task without prior knowledge could do this regardless of the changes and thus make frequent, time consuming, reprogramming and/or tuning unnecessary. The robot used in this thesis is a small ant like hexapod robot that is still in development. It is developed to take advantage of the high volume to power ratio, at low weights of Shape Memory Alloy actuators and to show collaborative behaviour. The task is to find a controller that lets this robot walk as fast as possible from A to B while using minimum prior knowledge. Three approaches to achieve this are proposed in this thesis, these are in descending amount of required prior knowledge: Min-Max, Cost Function Search and the Flat approach. All use a hierarchical division, where low level actions – like forward or left – and the combination of these actions, to reach the goal are learned separately. The approaches differ in the way they learn the low level actions. Min-Max uses fully defined sub-goals that are assumed to be sufficient to solve the problem. The Cost Function Search tries to find relevant sub-goals to solve the problem and the Flat approach tries to find the best low level actions by evaluating the performance of the found controller. In general it is expected that if more prior knowledge is used the algorithm learns faster and/or finds better results. The algorithms are compared using a simulator, where surprisingly the Cost Function Search method is found to result in controllers performing up to factor two better than the Min-Max approach and a factor four better that the flat approach. This indicates that care should be taken how prior knowledge is used as it not always leads to better results. Test on the robot show that the influence of repairs is significant and that the robot is able to learn to walk in straight line. It is believed that due to the back of the robot dragging on the floor it is unable to turn sharply and thus reach goals situated next to the robot. This in combination with frequent breakdowns made it impossible to test the complete algorithms on this version of the robot. Further test using an improved version of the robot need to be done to obtain conclusive results.

BMD

BioMechanical Engineering

Mechanical, Maritime and Materials Engineering

Advisors/Committee Members: Jonker, P.P. (mentor), Caarls, W. (mentor).

Subjects/Keywords: learning; walking; robot; hexapod; reinforcement; prior knowledge

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Moerdijk, M. M. (. (2013). Learning to walk using minimum prior knowledge: And a small hexapod robot. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:fafd5dd4-653c-4b39-965f-c48707a2c1ca

Chicago Manual of Style (16^th Edition):

Moerdijk, M M (author). “Learning to walk using minimum prior knowledge: And a small hexapod robot.” 2013. Masters Thesis, Delft University of Technology. Accessed March 05, 2021. http://resolver.tudelft.nl/uuid:fafd5dd4-653c-4b39-965f-c48707a2c1ca.

MLA Handbook (7^th Edition):

Moerdijk, M M (author). “Learning to walk using minimum prior knowledge: And a small hexapod robot.” 2013. Web. 05 Mar 2021.

Vancouver:

Moerdijk MM(. Learning to walk using minimum prior knowledge: And a small hexapod robot. [Internet] [Masters thesis]. Delft University of Technology; 2013. [cited 2021 Mar 05]. Available from: http://resolver.tudelft.nl/uuid:fafd5dd4-653c-4b39-965f-c48707a2c1ca.

Council of Science Editors:

Moerdijk MM(. Learning to walk using minimum prior knowledge: And a small hexapod robot. [Masters Thesis]. Delft University of Technology; 2013. Available from: http://resolver.tudelft.nl/uuid:fafd5dd4-653c-4b39-965f-c48707a2c1ca

Brno University of Technology

5. Žák, Marek. Řízení pohybu robota typu hexapod: Hexapod Robot Movement Control.

Degree: 2019, Brno University of Technology

URL: http://hdl.handle.net/11012/52213

► This thesis discusses walking robots issues, their classification, management and construction. There are listed the most famous motion algorithms and their graphical representation. Examples of… (more)

Subjects/Keywords: Hexapod; kráčející robot; kráčivé podvozky; algoritmy chůze; konstrukce hexapodu.; Hexapod; walking robot; walking chassises; walking gaits; hexapod construction.

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Žák, M. (2019). Řízení pohybu robota typu hexapod: Hexapod Robot Movement Control. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/52213

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Žák, Marek. “Řízení pohybu robota typu hexapod: Hexapod Robot Movement Control.” 2019. Thesis, Brno University of Technology. Accessed March 05, 2021. http://hdl.handle.net/11012/52213.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Žák, Marek. “Řízení pohybu robota typu hexapod: Hexapod Robot Movement Control.” 2019. Web. 05 Mar 2021.

Vancouver:

Žák M. Řízení pohybu robota typu hexapod: Hexapod Robot Movement Control. [Internet] [Thesis]. Brno University of Technology; 2019. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/11012/52213.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Žák M. Řízení pohybu robota typu hexapod: Hexapod Robot Movement Control. [Thesis]. Brno University of Technology; 2019. Available from: http://hdl.handle.net/11012/52213

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brno University of Technology

6. Klvaňa, Roman. Rešeršní studie řídicích členů pro čtyřnohé kráčivé mobilní roboty: The Study of Controllers for Four-legged Walking Robots.

Degree: 2018, Brno University of Technology

URL: http://hdl.handle.net/11012/9377

► This work is based on literary search and is focused on description of various approaches in walking gait generation for four-legged walking robots. There are… (more)

Subjects/Keywords: kráčivá chůze; mobilní robot; čtyřnohý robot; walking gait; mobile robot; four-legged

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Klvaňa, R. (2018). Rešeršní studie řídicích členů pro čtyřnohé kráčivé mobilní roboty: The Study of Controllers for Four-legged Walking Robots. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/9377

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Klvaňa, Roman. “Rešeršní studie řídicích členů pro čtyřnohé kráčivé mobilní roboty: The Study of Controllers for Four-legged Walking Robots.” 2018. Thesis, Brno University of Technology. Accessed March 05, 2021. http://hdl.handle.net/11012/9377.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Klvaňa, Roman. “Rešeršní studie řídicích členů pro čtyřnohé kráčivé mobilní roboty: The Study of Controllers for Four-legged Walking Robots.” 2018. Web. 05 Mar 2021.

Vancouver:

Klvaňa R. Rešeršní studie řídicích členů pro čtyřnohé kráčivé mobilní roboty: The Study of Controllers for Four-legged Walking Robots. [Internet] [Thesis]. Brno University of Technology; 2018. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/11012/9377.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Klvaňa R. Rešeršní studie řídicích členů pro čtyřnohé kráčivé mobilní roboty: The Study of Controllers for Four-legged Walking Robots. [Thesis]. Brno University of Technology; 2018. Available from: http://hdl.handle.net/11012/9377

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brno University of Technology

7. Ondroušek, Vít. Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control.

Degree: 2014, Brno University of Technology

URL: http://hdl.handle.net/11012/7788

► The Ph.D. thesis is focused on using the reinforcement learning for four legged robot control. The main aim is to create an adaptive control system… (more)

Subjects/Keywords: kráčivý robot; kráčivá chůze; Q-učení; posilované učení; walking robot; walking gait; Q-learning; reinforcement learning

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Ondroušek, V. (2014). Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/7788

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ondroušek, Vít. “Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control.” 2014. Thesis, Brno University of Technology. Accessed March 05, 2021. http://hdl.handle.net/11012/7788.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ondroušek, Vít. “Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control.” 2014. Web. 05 Mar 2021.

Vancouver:

Ondroušek V. Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control. [Internet] [Thesis]. Brno University of Technology; 2014. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/11012/7788.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ondroušek V. Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control. [Thesis]. Brno University of Technology; 2014. Available from: http://hdl.handle.net/11012/7788

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brno University of Technology

8. Ondroušek, Vít. Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control.

Degree: 2014, Brno University of Technology

URL: http://hdl.handle.net/11012/4459

► The Ph.D. thesis is focused on using the reinforcement learning for four legged robot control. The main aim is to create an adaptive control system… (more)

Subjects/Keywords: kráčivý robot; kráčivá chůze; Q-učení; posilované učení; walking robot; walking gait; Q-learning; reinforcement learning

Record Details Similar Records Cite « Share

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Ondroušek, V. (2014). Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/4459

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ondroušek, Vít. “Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control.” 2014. Thesis, Brno University of Technology. Accessed March 05, 2021. http://hdl.handle.net/11012/4459.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ondroušek, Vít. “Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control.” 2014. Web. 05 Mar 2021.

Vancouver:

Ondroušek V. Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control. [Internet] [Thesis]. Brno University of Technology; 2014. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/11012/4459.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ondroušek V. Využití opakovaně posilovaného učení pro řízení čtyřnohého robotu: Using of Reinforcement Learning for Four Legged Robot Control. [Thesis]. Brno University of Technology; 2014. Available from: http://hdl.handle.net/11012/4459

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Queensland University of Technology

9. De Silva, Shalutha. Force controlled hexapod walking.

Degree: 2014, Queensland University of Technology

URL: https://eprints.qut.edu.au/78978/

► This thesis is a study on controlling methods for six-legged robots. The study is based on mathematical modeling and simulation. A new joint controller is… (more)

Subjects/Keywords: Hexapod walking; PID controller based walking; Robot walking; Machine walking; Force sensors; Evolutionary algorithms; Neural network based walking; Local Cluster Neural Networks (LCNN); Artificial neural networks; Function approximation

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

De Silva, S. (2014). Force controlled hexapod walking. (Thesis). Queensland University of Technology. Retrieved from https://eprints.qut.edu.au/78978/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

De Silva, Shalutha. “Force controlled hexapod walking.” 2014. Thesis, Queensland University of Technology. Accessed March 05, 2021. https://eprints.qut.edu.au/78978/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

De Silva, Shalutha. “Force controlled hexapod walking.” 2014. Web. 05 Mar 2021.

Vancouver:

De Silva S. Force controlled hexapod walking. [Internet] [Thesis]. Queensland University of Technology; 2014. [cited 2021 Mar 05]. Available from: https://eprints.qut.edu.au/78978/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

De Silva S. Force controlled hexapod walking. [Thesis]. Queensland University of Technology; 2014. Available from: https://eprints.qut.edu.au/78978/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

10. Buckley, Alexander. Humanoid Robot Soccer Locomotion and Kick Dynamics: Open Loop Walking, Kicking and Morphing into Special Motions on the Nao Robot.

Degree: 2013, RIAN

URL: http://mural.maynoothuniversity.ie/4484/

► Striker speed and accuracy in the RoboCup (SPL) international robot soccer league is becoming increasingly important as the level of play rises. Competition around the… (more)

Subjects/Keywords: Hamilton Institute; Humanoid Robot Soccer; Locomotion; Kick Dynamics; Open Loop Walking; Special Motions; Nao Robot

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Buckley, A. (2013). Humanoid Robot Soccer Locomotion and Kick Dynamics: Open Loop Walking, Kicking and Morphing into Special Motions on the Nao Robot. (Thesis). RIAN. Retrieved from http://mural.maynoothuniversity.ie/4484/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Buckley, Alexander. “Humanoid Robot Soccer Locomotion and Kick Dynamics: Open Loop Walking, Kicking and Morphing into Special Motions on the Nao Robot.” 2013. Thesis, RIAN. Accessed March 05, 2021. http://mural.maynoothuniversity.ie/4484/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Buckley, Alexander. “Humanoid Robot Soccer Locomotion and Kick Dynamics: Open Loop Walking, Kicking and Morphing into Special Motions on the Nao Robot.” 2013. Web. 05 Mar 2021.

Vancouver:

Buckley A. Humanoid Robot Soccer Locomotion and Kick Dynamics: Open Loop Walking, Kicking and Morphing into Special Motions on the Nao Robot. [Internet] [Thesis]. RIAN; 2013. [cited 2021 Mar 05]. Available from: http://mural.maynoothuniversity.ie/4484/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Buckley A. Humanoid Robot Soccer Locomotion and Kick Dynamics: Open Loop Walking, Kicking and Morphing into Special Motions on the Nao Robot. [Thesis]. RIAN; 2013. Available from: http://mural.maynoothuniversity.ie/4484/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

11. Wait, Keith Wesley. The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics.

Degree: PhD, Mechanical Engineering, 2010, Vanderbilt University

URL: http://hdl.handle.net/1803/13608

► It is well known in the field of engineering that pneumatic actuation has certain advantages over electromagnetic actuation, although the latter is far more commonly… (more)

Subjects/Keywords: pneumatics; walking robot; mobile robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Wait, K. W. (2010). The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13608

Chicago Manual of Style (16^th Edition):

Wait, Keith Wesley. “The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics.” 2010. Doctoral Dissertation, Vanderbilt University. Accessed March 05, 2021. http://hdl.handle.net/1803/13608.

MLA Handbook (7^th Edition):

Wait, Keith Wesley. “The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics.” 2010. Web. 05 Mar 2021.

Vancouver:

Wait KW. The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics. [Internet] [Doctoral dissertation]. Vanderbilt University; 2010. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/1803/13608.

Council of Science Editors:

Wait KW. The Use of Pneumatic Actuation to Address Shortcomings Concerning Normalized Output Power in State of the Art Mobile Robotics. [Doctoral Dissertation]. Vanderbilt University; 2010. Available from: http://hdl.handle.net/1803/13608

University of Edinburgh

12. Enoch, Alexander Michael. Legged robotic locomotion with variable impedance joints.

Degree: PhD, 2016, University of Edinburgh

URL: http://hdl.handle.net/1842/20436

► Humans have a complex musculoskeletal arrangement which gives them great behavioural flexibility. As well as simply moving their legs, they can modulate the impedance of… (more)

▼ Humans have a complex musculoskeletal arrangement which gives them great behavioural flexibility. As well as simply moving their legs, they can modulate the impedance of them. Variable impedance has become a large field in robotics, and tailoring the impedance of a robot to a particular task can improve efficiency, stability, and potentially safety. Locomotion of a bipedal robot is a perfect example of a task for which variable impedance may provide such advantages, since it is a dynamic movement which involves periodic ground impacts. This thesis explores the creation of two novel bipedal robots with variable impedance joints. These robots aim to achieve some of the benefits of compliance, while retaining the behavioural flexibility to be truly versatile machines. The field of variable impedance actuators is explored and evaluated, before the design of the robots is presented. Of the two robots, BLUE (Bipedal Locomotion at the University of Edinburgh) has a 700mm hip rotation height, and is a saggital plane biped. miniBLUE has a hip rotation height of 465mm, and includes additional joints to allow hip adduction and abduction. Rapid prototyping techniques were utilised in the creation of both robots, and both robots are based around a custom, high performance electronics and communication architecture. The human walking cycle is analysed and a simple, parameterised representation developed. Walking trajectories gathered from human motion capture data, and generated from high level gait determinants are evaluated in dynamic simulation, and then on BLUE. With the robot being capable of locomotion, we explore the effect of varying stiffness on efficiency, and find that changing the stiffness can have an effect on the energy efficiency of the movement. Finally, we introduce a system for goal-based teleoperation of the robots, in which parameters are extracted from a user in a motion capture suit and replicated by the robot. In this way, the robot produces the same overall locomotion as the human, but with joint trajectories and stiffnesses that are more suited for its dynamics.

Subjects/Keywords: 629.8; legged robotics; robot; walking; variable impedance; variable stiffness

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Enoch, A. M. (2016). Legged robotic locomotion with variable impedance joints. (Doctoral Dissertation). University of Edinburgh. Retrieved from http://hdl.handle.net/1842/20436

Chicago Manual of Style (16^th Edition):

Enoch, Alexander Michael. “Legged robotic locomotion with variable impedance joints.” 2016. Doctoral Dissertation, University of Edinburgh. Accessed March 05, 2021. http://hdl.handle.net/1842/20436.

MLA Handbook (7^th Edition):

Enoch, Alexander Michael. “Legged robotic locomotion with variable impedance joints.” 2016. Web. 05 Mar 2021.

Vancouver:

Enoch AM. Legged robotic locomotion with variable impedance joints. [Internet] [Doctoral dissertation]. University of Edinburgh; 2016. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/1842/20436.

Council of Science Editors:

Enoch AM. Legged robotic locomotion with variable impedance joints. [Doctoral Dissertation]. University of Edinburgh; 2016. Available from: http://hdl.handle.net/1842/20436

Virginia Tech

13. Han, Jea-Kweon. Bipedal Walking for a Full Size Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption.

Degree: PhD, Mechanical Engineering, 2012, Virginia Tech

URL: http://hdl.handle.net/10919/27544

► This research effort aims to develop a series of full-sized humanoid robots, and to research a simple but reliable bipedal walking method. Since the debut… (more)

▼ This research effort aims to develop a series of full-sized humanoid robots, and to research a simple but reliable bipedal walking method. Since the debut of Wabot from Waseda University in 1973, several full-sized humanoid robots have been developed around the world that can walk, and run. Although various humanoid robots have successfully demonstrated their capabilities, bipedal walking methods are still one of the main technical challenges that robotics researchers are attempting to solve. It is still challenging because most bipedal walking methods, including ZMP (Zero Moment Point) require not only fast sensor feedback, but also fast and precise control of actuators. For this reason, only a small number of research groups have the ability to create full-sized humanoid robots that can walk and run. However, if we consider this problem from a different standpoint, the development of a full-sized humanoid robot can be simplified as long as the bipedal walking method is easily formulated. Therefore, this research focuses on developing a simple but reliable bipedal walking method. It then presents the designs of two versions of a new class of super lightweight (less than 13 kg), full-sized (taller than 1.4 m) humanoid robots called CHARLI-L (Cognitive Humanoid Autonomous Robot with Learning Intelligence â Lightweight) and CHARLI-2. These robots have unique designs compared to other full- sized humanoid robots. CHARLI-L utilizes spring assisted parallel four-bar linkages with synchronized actuation to achieve the goals of lightweight and low cost. Based on the experience and lesions learned from CHARLI-L, CHARLI-2 uses gear train reduction mechanisms, instead of parallel four-bar linkages, to increase actuation torque at the joints while further reducing weight. Both robots successfully demonstrated untethered bipedal locomotion using an intuitive walking method with sinusoidal foot movement. This walking method is based on the ZMP method. Motion capture tests using six high speed infrared cameras validate the proposed bipedal walking method. Additionally, the total power and energy consumptions during walking are calculated from measured actuator currents. Advisors/Committee Members: Hong, Dennis W. (committeechair), West, Robert L. Jr. (committee member), Sturges, Robert H. (committee member), Kurdila, Andrew J. (committee member), Lockhart, Thurmon E. (committee member).

Subjects/Keywords: Sinusoidal; Humanoid Robot; Full Size; Bipedal Walking; Feet Trajectories; Energy Consumption

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Han, J. (2012). Bipedal Walking for a Full Size Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/27544

Chicago Manual of Style (16^th Edition):

Han, Jea-Kweon. “Bipedal Walking for a Full Size Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption.” 2012. Doctoral Dissertation, Virginia Tech. Accessed March 05, 2021. http://hdl.handle.net/10919/27544.

MLA Handbook (7^th Edition):

Han, Jea-Kweon. “Bipedal Walking for a Full Size Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption.” 2012. Web. 05 Mar 2021.

Vancouver:

Han J. Bipedal Walking for a Full Size Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption. [Internet] [Doctoral dissertation]. Virginia Tech; 2012. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/10919/27544.

Council of Science Editors:

Han J. Bipedal Walking for a Full Size Humanoid Robot Utilizing Sinusoidal Feet Trajectories and Its Energy Consumption. [Doctoral Dissertation]. Virginia Tech; 2012. Available from: http://hdl.handle.net/10919/27544

University of Sydney

14. Tang, Justin Zian. Optimization-based Framework for Stability and Robustness of Bipedal Walking Robots .

Degree: 2017, University of Sydney

URL: http://hdl.handle.net/2123/16862

► As robots become more sophisticated and move out of the laboratory, they need to be able to reliably traverse difficult and rugged environments. Legged robots… (more)

Subjects/Keywords: Robotics; Bipedal Walking Robot; Stability; Robustness; Convex Optimisation; Contraction Theory

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APA (6^th Edition):

Tang, J. Z. (2017). Optimization-based Framework for Stability and Robustness of Bipedal Walking Robots . (Thesis). University of Sydney. Retrieved from http://hdl.handle.net/2123/16862

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tang, Justin Zian. “Optimization-based Framework for Stability and Robustness of Bipedal Walking Robots .” 2017. Thesis, University of Sydney. Accessed March 05, 2021. http://hdl.handle.net/2123/16862.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tang, Justin Zian. “Optimization-based Framework for Stability and Robustness of Bipedal Walking Robots .” 2017. Web. 05 Mar 2021.

Vancouver:

Tang JZ. Optimization-based Framework for Stability and Robustness of Bipedal Walking Robots . [Internet] [Thesis]. University of Sydney; 2017. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/2123/16862.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tang JZ. Optimization-based Framework for Stability and Robustness of Bipedal Walking Robots . [Thesis]. University of Sydney; 2017. Available from: http://hdl.handle.net/2123/16862

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

15. Chen, Zhongkai. Optimized Walking of an 8-link 3D Bipedal Robot : Optimisation de la marche d'un robot bipède 3D à 8 corps.

Degree: Docteur es, Automatique, 2015, Paris, ENSAM

URL: http://www.theses.fr/2015ENAM0027

►

D'un point de vue énergétique, les robots marcheurs sont moins performants que les humains. Face à ce défi, cette thèse propose une approche pour contrôler… (more)

▼

D'un point de vue énergétique, les robots marcheurs sont moins performants que les humains. Face à ce défi, cette thèse propose une approche pour contrôler et optimiser les allures de marche des robots bipèdes à la fois en 2D et 3D en considérant les fréquences propres du robot et par ajout de ressorts. L'étude porte essentiellement sur un robot bipède 2D à 5 corps et des pieds ponctuels ainsi qu'un robot bipède 3D à 8 corps avec des pieds sans masse à contact linéique. La commande en boucle fermée considérée est basée sur la méthode des contraintes virtuelles et la linéarisation par retour d'état. Suite à des études précédentes, la stabilité du robot bipède 2D est vérifiée par une section de Poincaré unidimensionnelle et étendue au robot bipède 3D à contact linéique avec le sol. L'optimisation est effectuée en utilisant la programmation quadratique séquentielle. Les paramètres optimisés incluent des coefficients de polynômes de Bézier et des paramètres posturaux. Des contraintes d'optimisation sont imposées pour assurer la validité de l'allure de marche. Pour le robot bipède 2D, deux configurations différentes de ressorts placés aux hanches sont étudiées. Ces deux configurations ont permis de réduire le coût énergétique. Pour le robot bipède 3D, les paramètres d'optimisation sont séparés en deux parties : ceux décrivant le mouvement dans le plan sagittal et ceux du plan frontal. Les résultats de l'optimisation montrent que ces deux types de paramètres doivent être optimisés. Ensuite, des ressorts sont ajoutés respectivement par rapport au plan sagittal, par rapport au plan frontal puis dans les deux plans. Les résultats montrent que l'ajout des ressorts dans le plan sagittal permet de réduire significativement le coût énergétique et que l'association de ressorts dans le plan frontal améliore encore plus la consommation d'énergie.

From an energy standpoint, walking robots are less efficient than humans. In facing this challenge, this study aims to provide an approach for controlling and optimizing the gaits of both 2D and 3D bipedal robots with consideration for exploiting natural dynamics and elastic couplings. A 5-link 2D biped with point feet and an 8-link 3D biped with massless line feet are studied. The control method is based on virtual constraints and feedback linearization. Following previous studies, the stability of the 2D biped is verified by computing scalar Poincaré map in closed form, and now this method also applies to the 3D biped because of its line-foot configuration. The optimization is performed using sequential quadratic programming. The optimization parameters include postural parameters and Bézier coefficients, and the optimization constraints are used to ensure gait validity. For the 2D biped, two different configurations of hip joint springs are investigated and both configurations successfully reduce the energy cost. For the 3D biped, the optimization parameters are further divided into sagittal parameters and coronal parameters, and the optimization results indicate that both these…

Advisors/Committee Members: Abba, Gabriel (thesis director), Lakbakbi El Yaaqoubi, Nafissa (thesis director).

Subjects/Keywords: Robot bipède 3D; Marche optimale; Commande non linéaire; Robot sous-Actionné; Optimisation paramétrique; 3D bipedal robot; Optimal walking; Nonlinear control; Underactuated robot; Parametric optimization

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Chen, Z. (2015). Optimized Walking of an 8-link 3D Bipedal Robot : Optimisation de la marche d'un robot bipède 3D à 8 corps. (Doctoral Dissertation). Paris, ENSAM. Retrieved from http://www.theses.fr/2015ENAM0027

Chicago Manual of Style (16^th Edition):

Chen, Zhongkai. “Optimized Walking of an 8-link 3D Bipedal Robot : Optimisation de la marche d'un robot bipède 3D à 8 corps.” 2015. Doctoral Dissertation, Paris, ENSAM. Accessed March 05, 2021. http://www.theses.fr/2015ENAM0027.

MLA Handbook (7^th Edition):

Chen, Zhongkai. “Optimized Walking of an 8-link 3D Bipedal Robot : Optimisation de la marche d'un robot bipède 3D à 8 corps.” 2015. Web. 05 Mar 2021.

Vancouver:

Chen Z. Optimized Walking of an 8-link 3D Bipedal Robot : Optimisation de la marche d'un robot bipède 3D à 8 corps. [Internet] [Doctoral dissertation]. Paris, ENSAM; 2015. [cited 2021 Mar 05]. Available from: http://www.theses.fr/2015ENAM0027.

Council of Science Editors:

Chen Z. Optimized Walking of an 8-link 3D Bipedal Robot : Optimisation de la marche d'un robot bipède 3D à 8 corps. [Doctoral Dissertation]. Paris, ENSAM; 2015. Available from: http://www.theses.fr/2015ENAM0027

Brno University of Technology

16. Žák, Marek. Návrh a konstrukce šestinohého mobilního robotu: Design and Construction of a Hexapod Robot.

Degree: 2019, Brno University of Technology

URL: http://hdl.handle.net/11012/54913

► This paper describes design, analysis and implementation of the six-legged walking robot - hexapod. The design and implementation of mechanical engineering, electronic and power management… (more)

Subjects/Keywords: Hexapod; kráčející robot; servomotor; senzory; dálkové řízení; řízení napájení; vestavěné systémy; algoritmy chůze.; Hexapod; walking robot; servomotor; sensors; remote control; power management; embedded systems; walking algorithms.

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APA (6^th Edition):

Žák, M. (2019). Návrh a konstrukce šestinohého mobilního robotu: Design and Construction of a Hexapod Robot. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/54913

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Žák, Marek. “Návrh a konstrukce šestinohého mobilního robotu: Design and Construction of a Hexapod Robot.” 2019. Thesis, Brno University of Technology. Accessed March 05, 2021. http://hdl.handle.net/11012/54913.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Žák, Marek. “Návrh a konstrukce šestinohého mobilního robotu: Design and Construction of a Hexapod Robot.” 2019. Web. 05 Mar 2021.

Vancouver:

Žák M. Návrh a konstrukce šestinohého mobilního robotu: Design and Construction of a Hexapod Robot. [Internet] [Thesis]. Brno University of Technology; 2019. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/11012/54913.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Žák M. Návrh a konstrukce šestinohého mobilního robotu: Design and Construction of a Hexapod Robot. [Thesis]. Brno University of Technology; 2019. Available from: http://hdl.handle.net/11012/54913

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Penn State University

17. Homich, Andrew Joseph. Robot for Observational Gait Assessment and Rehabilitation.

Degree: 2014, Penn State University

URL: https://submit-etda.libraries.psu.edu/catalog/22005

► This thesis explores the design of a robotic device for observational gait assessment and rehabilitation, a method to estimate a patient's orientation within the rehabilitation… (more)

Subjects/Keywords: Robot; Robotics; Parallel Bars; Physical Therapy; Observational Gait Assessment; Rehabilitation; Complementary Filter; Walking

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APA (6^th Edition):

Homich, A. J. (2014). Robot for Observational Gait Assessment and Rehabilitation. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/22005

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Homich, Andrew Joseph. “Robot for Observational Gait Assessment and Rehabilitation.” 2014. Thesis, Penn State University. Accessed March 05, 2021. https://submit-etda.libraries.psu.edu/catalog/22005.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Homich, Andrew Joseph. “Robot for Observational Gait Assessment and Rehabilitation.” 2014. Web. 05 Mar 2021.

Vancouver:

Homich AJ. Robot for Observational Gait Assessment and Rehabilitation. [Internet] [Thesis]. Penn State University; 2014. [cited 2021 Mar 05]. Available from: https://submit-etda.libraries.psu.edu/catalog/22005.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Homich AJ. Robot for Observational Gait Assessment and Rehabilitation. [Thesis]. Penn State University; 2014. Available from: https://submit-etda.libraries.psu.edu/catalog/22005

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Penn State University

18. Okita, Noriaki. Development of a novel foot slip sensor algorithm.

Degree: 2015, Penn State University

URL: https://submit-etda.libraries.psu.edu/catalog/23832

► A novel gait and slip detection algorithm for walking robots and humans using an inertial measurement unit (IMU) was developed. An unscented Kalman filter was… (more)

▼ A novel gait and slip detection algorithm for walking robots and humans using an inertial measurement unit (IMU) was developed. An unscented Kalman filter was formulated with a simple dynamic model of a foot as a block on a slope without translations. Considerable prediction errors resulted when unmodeled dynamics (i.e., translation) occurred. These prediction errors were systematically incorporated in a binary Bayes filter to estimate the probability of gait and slip states. Three stages of experiments with increasing complexities served dual purposes to develop and validate unified gait and slip detection algorithms. Multiple floor conditions and slopes were used in these experiments. Stick-slip experiments served as fundamental slip detection test cases without involving gait states. Monopedal walker experiments were used to develop the gait and slip detection algorithms for robots walking in “robot-style” static gait. Human subject experiments served as gait and slip detection test cases with typical “human-like” dynamic gait. Successful detection of gait and slip in all validation experiments was achieved using the same algorithms with commercial-grade IMU sensors. Continuous gait cycles were detected in proper order. Stance phase was successfully detected regardless of foot slip. Slip detection was successful except for very mild slips involving small jerk. One set of thresholds was used for detection under all floor conditions in a given series of validation experiments. It was not necessary to provide explicit knowledge of the inertial and control parameters, walking surface (orientation, contamination, and friction mode), or sensor error models. Consequently, a universal, simple-to-use, and robust realtime sensor algorithm was developed to detect gait and slip of robots walking on floors with various contaminations and slope. Advisors/Committee Members: Henry Joseph Sommer Iii, Dissertation Advisor/Co-Advisor, Henry Joseph Sommer Iii, Committee Chair/Co-Chair, Christopher Rahn, Committee Member, Stephen Jacob Piazza, Committee Member, Jacob Willem Langelaan, Committee Member, Jason Zachary Moore, Committee Member.

Subjects/Keywords: slip sensor; gait cycle detection; walking robot; stick-slip; stochastic state estimation; anomaly detection

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APA (6^th Edition):

Okita, N. (2015). Development of a novel foot slip sensor algorithm. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/23832

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Okita, Noriaki. “Development of a novel foot slip sensor algorithm.” 2015. Thesis, Penn State University. Accessed March 05, 2021. https://submit-etda.libraries.psu.edu/catalog/23832.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Okita, Noriaki. “Development of a novel foot slip sensor algorithm.” 2015. Web. 05 Mar 2021.

Vancouver:

Okita N. Development of a novel foot slip sensor algorithm. [Internet] [Thesis]. Penn State University; 2015. [cited 2021 Mar 05]. Available from: https://submit-etda.libraries.psu.edu/catalog/23832.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Okita N. Development of a novel foot slip sensor algorithm. [Thesis]. Penn State University; 2015. Available from: https://submit-etda.libraries.psu.edu/catalog/23832

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Manitoba

19. Ghorbani, Reza. On controllable stiffness bipedal walking.

Degree: Mechanical and Manufacturing Engineering, 2008, University of Manitoba

URL: http://hdl.handle.net/1993/3040

► Impact at each leg transition is one of the main causes of energy dissipation in most of the current bipedal walking robots. Minimizing impact can… (more)

▼ Impact at each leg transition is one of the main causes of energy dissipation in most of the current bipedal walking robots. Minimizing impact can reduce the energy loss. Instead of controlling the joint angle profiles to reduce the impact which requires significant amount of energy, installing elastic mechanisms on the robots structure is proposed in this research, enabling the robot to reduce the impact, and to store part of the energy in the elastic form which returns the energy to the robot. Practically, this motivates the development of the bipedal walking robots with adjustable stiffness elasticity which itself creates new challenging problems. This thesis addresses some of the challenges through five consecutive stages. Firstly, an adjustable compliant series elastic actuator (named ACSEA in this thesis) is developed. The velocity control mode of the electric motor is used to accurately control the output force of the ACSEA. Secondly, three different conceptual designs of the adjustable stiffness artificial tendons (ASAT) are proposed each of which is added at the ankle joint of a bipedal walking robot model. Simulation results of the collision phase (part of the gait between the heel-strike and the foot-touch-down in bipedal walking) demonstrate significant improvements in the energetics of the bipedal walking robot by proper stiffness adjustment of ASAT. In the third stage, in order to study the effects of ASATs on reducing the energy loss during the stance phase, a simplified model of bipedal walking is introduced consisting of a foot, a leg and an ASAT which is installed parallel to the ankle joint. A linear spring, with adjustable stiffness, is included in the model to simulate the generated force by the trailing leg during the double support phase. The concept of impulsive constraints is used to establish the mathematical model of impacts in the collision phase which includes the heel-strike and the foot-touch-down. For the fourth stage, an energy-feedback-based controller is designed to automatically adjust the stiffness of the ASAT which reduces the energy loss during the foot-touch-down. In the final stage, a speed tracking (ST) controller is developed to regulate the velocity of the biped at the midstance. The ST controller is an event-based time-independent controller, based on geometric progression with exponential decay in the kinetic energy error, which adjusts the stiffness of the trailing-leg spring to control the injected energy to the biped in tracking a desired speed at the midstance. Another controller is also integrated with the ST controller to tune the stiffness of the ASAT when reduction in the speed is desired. Then, the local stability of the system (biped and the combination of the above three controllers) is analyzed by calculating the eigenvalues of the linear approximation of the return map. Simulation results show that the combination of the three controllers is successful in tracking a desired speed of the bipedal walking even in the presence of… Advisors/Committee Members: (Mechanical and Manufacturing Engineering) (supervisor), Spong, Mark (Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign).

Subjects/Keywords: Bipedal walking; Adjustable Stiffness; Control; Robot

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Ghorbani, R. (2008). On controllable stiffness bipedal walking. (Thesis). University of Manitoba. Retrieved from http://hdl.handle.net/1993/3040

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ghorbani, Reza. “On controllable stiffness bipedal walking.” 2008. Thesis, University of Manitoba. Accessed March 05, 2021. http://hdl.handle.net/1993/3040.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ghorbani, Reza. “On controllable stiffness bipedal walking.” 2008. Web. 05 Mar 2021.

Vancouver:

Ghorbani R. On controllable stiffness bipedal walking. [Internet] [Thesis]. University of Manitoba; 2008. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/1993/3040.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ghorbani R. On controllable stiffness bipedal walking. [Thesis]. University of Manitoba; 2008. Available from: http://hdl.handle.net/1993/3040

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Halmstad University

20. Joachimbauer, Florian. Concise Modeling of Humanoid Dynamics.

Degree: Information Technology, 2017, Halmstad University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-35094

► Simulation of mechanical systems like walking robots, is an essential part in developingnew and more applicable solutions in robotics. The increasing complexity of methodsand… (more)

Subjects/Keywords: Passive walking; Humanoid robot; Acumen; Equation-based tool; Euler-Lagrange; Robotics; Robotteknik och automation

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Joachimbauer, F. (2017). Concise Modeling of Humanoid Dynamics. (Thesis). Halmstad University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-35094

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Joachimbauer, Florian. “Concise Modeling of Humanoid Dynamics.” 2017. Thesis, Halmstad University. Accessed March 05, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-35094.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Joachimbauer, Florian. “Concise Modeling of Humanoid Dynamics.” 2017. Web. 05 Mar 2021.

Vancouver:

Joachimbauer F. Concise Modeling of Humanoid Dynamics. [Internet] [Thesis]. Halmstad University; 2017. [cited 2021 Mar 05]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-35094.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Joachimbauer F. Concise Modeling of Humanoid Dynamics. [Thesis]. Halmstad University; 2017. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-35094

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Stirling

21. Geng, Tao. Fast biped walking with a neuronal controller and physical computation.

Degree: PhD, School of Natural Sciences, 2007, University of Stirling

URL: http://hdl.handle.net/1893/141

► Biped walking remains a difficult problem and robot models can greatly {facilitate} our understanding of the underlying biomechanical principles as well as their neuronal control.… (more)

▼ Biped walking remains a difficult problem and robot models can greatly {facilitate} our understanding of the underlying biomechanical principles as well as their neuronal control. The goal of this study is to specifically demonstrate that stable biped walking can be achieved by combining the physical properties of the walking robot with a small, reflex-based neuronal network, which is governed mainly by local sensor signals. This study shows that human-like gaits emerge without {specific} position or trajectory control and that the walker is able to compensate small disturbances through its own dynamical properties. The reflexive controller used here has the following characteristics, which are different from earlier approaches: (1) Control is mainly local. Hence, it uses only two signals (AEA=Anterior Extreme Angle and GC=Ground Contact) which operate at the inter-joint level. All other signals operate only at single joints. (2) Neither position control nor trajectory tracking control is used. Instead, the approximate nature of the local reflexes on each joint allows the robot mechanics itself (e.g., its passive dynamics) to contribute substantially to the overall gait trajectory computation. (3) The motor control scheme used in the local reflexes of our robot is more straightforward and has more biological plausibility than that of other robots, because the outputs of the motorneurons in our reflexive controller are directly driving the motors of the joints, rather than working as references for position or velocity control. As a consequence, the neural controller and the robot mechanics are closely coupled as a neuro-mechanical system and this study emphasises that dynamically stable biped walking gaits emerge from the coupling between neural computation and physical computation. This is demonstrated by different walking experiments using two real robot as well as by a Poincaré map analysis applied on a model of the robot in order to assess its stability. In addition, this neuronal control structure allows the use of a policy gradient reinforcement learning algorithm to tune the parameters of the neurons in real-time, during walking. This way the robot can reach a record-breaking walking speed of 3.5 leg-lengths per second after only a few minutes of online learning, which is even comparable to the fastest relative speed of human walking.

Subjects/Keywords: biped; walking robot; Bipedalism; Robots Motion

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APA (6^th Edition):

Geng, T. (2007). Fast biped walking with a neuronal controller and physical computation. (Doctoral Dissertation). University of Stirling. Retrieved from http://hdl.handle.net/1893/141

Chicago Manual of Style (16^th Edition):

Geng, Tao. “Fast biped walking with a neuronal controller and physical computation.” 2007. Doctoral Dissertation, University of Stirling. Accessed March 05, 2021. http://hdl.handle.net/1893/141.

MLA Handbook (7^th Edition):

Geng, Tao. “Fast biped walking with a neuronal controller and physical computation.” 2007. Web. 05 Mar 2021.

Vancouver:

Geng T. Fast biped walking with a neuronal controller and physical computation. [Internet] [Doctoral dissertation]. University of Stirling; 2007. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/1893/141.

Council of Science Editors:

Geng T. Fast biped walking with a neuronal controller and physical computation. [Doctoral Dissertation]. University of Stirling; 2007. Available from: http://hdl.handle.net/1893/141

Ohio University

22. Kljuno, Elvedin. Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls.

Degree: PhD, Mechanial and Systems Engineering (Engineering and Technology), 2012, Ohio University

URL: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1354708727

► The dissertation presents a novel approach of an actuation system design for bipedal robotic walkers. The new actuation system concept is, to a certain… (more)

Subjects/Keywords: Biomechanics; Mechanical Engineering; Robotics; Biped; Cable-Driven; Walking Robot Modeling; Cable Tension; Sagittal Plane

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APA (6^th Edition):

Kljuno, E. (2012). Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls. (Doctoral Dissertation). Ohio University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1354708727

Chicago Manual of Style (16^th Edition):

Kljuno, Elvedin. “Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls.” 2012. Doctoral Dissertation, Ohio University. Accessed March 05, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1354708727.

MLA Handbook (7^th Edition):

Kljuno, Elvedin. “Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls.” 2012. Web. 05 Mar 2021.

Vancouver:

Kljuno E. Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls. [Internet] [Doctoral dissertation]. Ohio University; 2012. [cited 2021 Mar 05]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1354708727.

Council of Science Editors:

Kljuno E. Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls. [Doctoral Dissertation]. Ohio University; 2012. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1354708727

23. Sze, Felisa. Simulation and Framework for the Humanoid Robot TigerBot.

Degree: MS, Electrical Engineering, 2018, Rochester Institute of Technology

URL: https://scholarworks.rit.edu/theses/9888

► Walking humanoid robotics is a developing field. Different humanoid robots allow for different kinds of testing. TigerBot is a new full-scale humanoid robot with… (more)

Subjects/Keywords: Humanoid robot; Robotics; Robot simulation; Robot walking; TigerBot

…walking gaits to be tested on a model before testing the gaits on the real robot. A simulation… …humanoid robot from the company Aldebaran-Robotics. It walks using ZMP and an open-loop walking… …robot labeled with common terminology. 6 2.2.1 ZMP One common walking method is through… …tested with NAO and an underactuated bipedal robot and accomplished robust walking. The basic… …62 viii List of Figures Figure 1: Diagram of a generic robot labeled with common…

10 more images…

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APA (6^th Edition):

Sze, F. (2018). Simulation and Framework for the Humanoid Robot TigerBot. (Masters Thesis). Rochester Institute of Technology. Retrieved from https://scholarworks.rit.edu/theses/9888

Chicago Manual of Style (16^th Edition):

Sze, Felisa. “Simulation and Framework for the Humanoid Robot TigerBot.” 2018. Masters Thesis, Rochester Institute of Technology. Accessed March 05, 2021. https://scholarworks.rit.edu/theses/9888.

MLA Handbook (7^th Edition):

Sze, Felisa. “Simulation and Framework for the Humanoid Robot TigerBot.” 2018. Web. 05 Mar 2021.

Vancouver:

Sze F. Simulation and Framework for the Humanoid Robot TigerBot. [Internet] [Masters thesis]. Rochester Institute of Technology; 2018. [cited 2021 Mar 05]. Available from: https://scholarworks.rit.edu/theses/9888.

Council of Science Editors:

Sze F. Simulation and Framework for the Humanoid Robot TigerBot. [Masters Thesis]. Rochester Institute of Technology; 2018. Available from: https://scholarworks.rit.edu/theses/9888

24. Choi, Jongung. LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICIAL MUSCLES.

Degree: PhD, Mechanical Engineering, 2005, Case Western Reserve University School of Graduate Studies

URL: http://rave.ohiolink.edu/etdc/view?acc_num=case1117207152

► This dissertation describes experimental efforts to improve the control and mechanical designs of a biologically-inspired hexapod robot. Robot V is modeled after the Blaberus discoidalis… (more)

Subjects/Keywords: Engineering, Mechanical; Bio-inspired robot; Walking robot; Hexapod robot; Locomotion control

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APA (6^th Edition):

Choi, J. (2005). LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICIAL MUSCLES. (Doctoral Dissertation). Case Western Reserve University School of Graduate Studies. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=case1117207152

Chicago Manual of Style (16^th Edition):

Choi, Jongung. “LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICIAL MUSCLES.” 2005. Doctoral Dissertation, Case Western Reserve University School of Graduate Studies. Accessed March 05, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1117207152.

MLA Handbook (7^th Edition):

Choi, Jongung. “LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICIAL MUSCLES.” 2005. Web. 05 Mar 2021.

Vancouver:

Choi J. LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICIAL MUSCLES. [Internet] [Doctoral dissertation]. Case Western Reserve University School of Graduate Studies; 2005. [cited 2021 Mar 05]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=case1117207152.

Council of Science Editors:

Choi J. LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICIAL MUSCLES. [Doctoral Dissertation]. Case Western Reserve University School of Graduate Studies; 2005. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=case1117207152

25. Liu, Jing. Motion plan and control of humanoid walking robots.

Degree: 2015, Technische Universität Dortmund

URL: http://dx.doi.org/10.17877/DE290R-16515

► Walking for most humans and animals is an easy task due to the inherent robustness and the natural dynamics of the walking mechanism. Walking, however,… (more)

▼ Walking for most humans and animals is an easy task due to the inherent robustness and the natural dynamics of the walking mechanism. Walking, however, for humanoid robots is not that easy because of its nonlinearity, high dimensionality, and natural instability. Effective use of humanoid robots in unstructured environments for human beings requires that they have autonomous and reliable locomotion capability. Locomotion for humanoid robots can take many forms. This thesis covers motion plan and control of humanoid walking robots. Five consecutive stages are addressed from the perspective of stable dynamic walking. Firstly, a natural and efficient walking pattern is designed on the basis of the insight gained from human walking. The walking pattern involves the configuration with stretched knees. Secondly, in view of the modeling error, as well as the environment uncertainty such as the unevenness and inclination of the surface, a posture controller, which online controls the orientation of the upper body of the robot is developed from the viewpoint of stability. Walking stability of the robot is improved through the control scheme. In the third stage, a gait controller, which online controls the swing-leg is developed. Fast and precise trajectory tracking of the swing-leg is achieved which enables humanoid robots to quickly swing the swing-leg so that fast walking can be realized. In the fourth stage, a controller with the purpose of decreasing the landing force and improving the walking stability by means of force control is developed. In the final stage, strategies for restoring equilibrium in the presence of external disturbances to maintain upright standing posture are analyzed. Simple models are introduced to exploit boundaries that determine the strategies used for preventing a fall. Simulation and experiments were performed with the humanoid robot NAO developed at Aldebaran Robotics in France. Using the walking system, NAO achieved dynamic stable walking and reached a maximum walking speed of 0.24 m/s in experiments. Besides, with the presented walking pattern NAO could walk stably with almost stretched knees at a lower speed, e.g. 0.10 m/s, so that the corresponding energy consumption was lower since the robot did not bend the knees all the time, which means that the robot is able to walk for a longer time without battery charging and has less heating problem. Advisors/Committee Members: Schwiegelshohn, Uwe (advisor), Seyfarth, André (referee).

Subjects/Keywords: biped humanoid robot; walking pattern generation; 3D waist motion; posture control; energy consuption; swing leg trajectory tracking; 004

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APA (6^th Edition):

Liu, J. (2015). Motion plan and control of humanoid walking robots. (Doctoral Dissertation). Technische Universität Dortmund. Retrieved from http://dx.doi.org/10.17877/DE290R-16515

Chicago Manual of Style (16^th Edition):

Liu, Jing. “Motion plan and control of humanoid walking robots.” 2015. Doctoral Dissertation, Technische Universität Dortmund. Accessed March 05, 2021. http://dx.doi.org/10.17877/DE290R-16515.

MLA Handbook (7^th Edition):

Liu, Jing. “Motion plan and control of humanoid walking robots.” 2015. Web. 05 Mar 2021.

Vancouver:

Liu J. Motion plan and control of humanoid walking robots. [Internet] [Doctoral dissertation]. Technische Universität Dortmund; 2015. [cited 2021 Mar 05]. Available from: http://dx.doi.org/10.17877/DE290R-16515.

Council of Science Editors:

Liu J. Motion plan and control of humanoid walking robots. [Doctoral Dissertation]. Technische Universität Dortmund; 2015. Available from: http://dx.doi.org/10.17877/DE290R-16515

26. 青木, 潤也. 反射を用いた二足歩行ロボットの歩行制御 : THE CONTROL OF THE WALKING BY THE REFLECTION FOR A BIPED ROBOTT.

Degree: 2009, Hosei University / 法政大学

URL: http://hdl.handle.net/10114/3468

Subjects/Keywords: Biped walking robot; Balance control; reflective walk

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APA (6^th Edition):

青木, �. (2009). 反射を用いた二足歩行ロボットの歩行制御 : THE CONTROL OF THE WALKING BY THE REFLECTION FOR A BIPED ROBOTT. (Thesis). Hosei University / 法政大学. Retrieved from http://hdl.handle.net/10114/3468

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

青木, 潤也. “反射を用いた二足歩行ロボットの歩行制御 : THE CONTROL OF THE WALKING BY THE REFLECTION FOR A BIPED ROBOTT.” 2009. Thesis, Hosei University / 法政大学. Accessed March 05, 2021. http://hdl.handle.net/10114/3468.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

青木, 潤也. “反射を用いた二足歩行ロボットの歩行制御 : THE CONTROL OF THE WALKING BY THE REFLECTION FOR A BIPED ROBOTT.” 2009. Web. 05 Mar 2021.

Vancouver:

青木 �. 反射を用いた二足歩行ロボットの歩行制御 : THE CONTROL OF THE WALKING BY THE REFLECTION FOR A BIPED ROBOTT. [Internet] [Thesis]. Hosei University / 法政大学; 2009. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/10114/3468.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

青木 �. 反射を用いた二足歩行ロボットの歩行制御 : THE CONTROL OF THE WALKING BY THE REFLECTION FOR A BIPED ROBOTT. [Thesis]. Hosei University / 法政大学; 2009. Available from: http://hdl.handle.net/10114/3468

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

27. WONG CHERN YUEN, ANTHONY. Robust walking of a quadraped robot.

Degree: 2004, National University of Singapore

URL: http://scholarbank.nus.edu.sg/handle/10635/14356

Subjects/Keywords: legged robot; CPG; behaviour based; quadraped; locomotion; walking

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APA (6^th Edition):

WONG CHERN YUEN, A. (2004). Robust walking of a quadraped robot. (Thesis). National University of Singapore. Retrieved from http://scholarbank.nus.edu.sg/handle/10635/14356

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

WONG CHERN YUEN, ANTHONY. “Robust walking of a quadraped robot.” 2004. Thesis, National University of Singapore. Accessed March 05, 2021. http://scholarbank.nus.edu.sg/handle/10635/14356.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

WONG CHERN YUEN, ANTHONY. “Robust walking of a quadraped robot.” 2004. Web. 05 Mar 2021.

Vancouver:

WONG CHERN YUEN A. Robust walking of a quadraped robot. [Internet] [Thesis]. National University of Singapore; 2004. [cited 2021 Mar 05]. Available from: http://scholarbank.nus.edu.sg/handle/10635/14356.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

WONG CHERN YUEN A. Robust walking of a quadraped robot. [Thesis]. National University of Singapore; 2004. Available from: http://scholarbank.nus.edu.sg/handle/10635/14356

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

28. ZHANG RUIXIANG. The development and walking control of biped robot.

Degree: 2004, National University of Singapore

URL: http://scholarbank.nus.edu.sg/handle/10635/27711

Subjects/Keywords: Biped robot; mechanical design; control system configuration; dynamic walking

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APA (6^th Edition):

RUIXIANG, Z. (2004). The development and walking control of biped robot. (Thesis). National University of Singapore. Retrieved from http://scholarbank.nus.edu.sg/handle/10635/27711

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

RUIXIANG, ZHANG. “The development and walking control of biped robot.” 2004. Thesis, National University of Singapore. Accessed March 05, 2021. http://scholarbank.nus.edu.sg/handle/10635/27711.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

RUIXIANG, ZHANG. “The development and walking control of biped robot.” 2004. Web. 05 Mar 2021.

Vancouver:

RUIXIANG Z. The development and walking control of biped robot. [Internet] [Thesis]. National University of Singapore; 2004. [cited 2021 Mar 05]. Available from: http://scholarbank.nus.edu.sg/handle/10635/27711.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

RUIXIANG Z. The development and walking control of biped robot. [Thesis]. National University of Singapore; 2004. Available from: http://scholarbank.nus.edu.sg/handle/10635/27711

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Colorado State University

29. DeMario, Anthony R. Design, modeling, and optimization of 3D printed compliant mechanisms with applications to miniature walking robots.

Degree: MS(M.S.), Mechanical Engineering, 2018, Colorado State University

URL: http://hdl.handle.net/10217/191249

► Miniature robots have many applications ranging from military surveillance to search and rescue assistance in disaster areas. Traditionally, fabrication of these robots has been labor… (more)

▼ Miniature robots have many applications ranging from military surveillance to search and rescue assistance in disaster areas. Traditionally, fabrication of these robots has been labor intensive, time-consuming, and expensive. This thesis proposes to leverage recent advances in 3D printing technology to fabricate centimeter-scale walking robots utilizing compliant elements printed directly into the walking mechanisms in replacement of traditional revolute joints or rigid links. The ability to design around the capabilities of 3D printers and novel material choices gives miniature robots the ability to have multiple functions in the same mechanism, reduces the overall number of parts that must be assembled to make a functional robot, and decrease the time and cost of prototyping. This thesis details three areas of study for compliant mechanisms with applications to walking robots. First, we utilize multi-material 3D printing to fabricate a miniature walking robot (49 x 38 x 25mm) that directly replaces the traditional revolute joints in the designed walking mechanism with a custom, soft joint. Some links are also printed with soft materials to enhance the robustness and durability of the robot. Along with design and testing of the robot, we develop two numerical models to simulate the effects of the soft elements on the mechanism trajectory. Second, we leverage the numerical models to optimize the design of the walking mechanism to produce a trajectory similar to that of the same mechanism using all revolute joints. Third, we redesign the original robot to utilize a conductive polylactic acid (PLA) material to 3D print linkages that allow for changing joints locations by softening the desired part through applied electricity. This variable joint mechanism can create multiple trajectories without changing the mechanical structure, therefore creating a multi-functional compliant mechianism. Such capabilities are demonstrated throughwalking on the ground and grasping objects using the same leg mechanism. Advisors/Committee Members: Zhao, Jianguo (advisor), Stansloski, Mitchell (committee member), Maciejewski, Anthony (committee member).

Subjects/Keywords: mechanism optimization; multi-material 3D printed; adaptive 3D printed mechanisms; non-linear robot kinematics; miniature walking robots

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APA (6^th Edition):

DeMario, A. R. (2018). Design, modeling, and optimization of 3D printed compliant mechanisms with applications to miniature walking robots. (Masters Thesis). Colorado State University. Retrieved from http://hdl.handle.net/10217/191249

Chicago Manual of Style (16^th Edition):

DeMario, Anthony R. “Design, modeling, and optimization of 3D printed compliant mechanisms with applications to miniature walking robots.” 2018. Masters Thesis, Colorado State University. Accessed March 05, 2021. http://hdl.handle.net/10217/191249.

MLA Handbook (7^th Edition):

DeMario, Anthony R. “Design, modeling, and optimization of 3D printed compliant mechanisms with applications to miniature walking robots.” 2018. Web. 05 Mar 2021.

Vancouver:

DeMario AR. Design, modeling, and optimization of 3D printed compliant mechanisms with applications to miniature walking robots. [Internet] [Masters thesis]. Colorado State University; 2018. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/10217/191249.

Council of Science Editors:

DeMario AR. Design, modeling, and optimization of 3D printed compliant mechanisms with applications to miniature walking robots. [Masters Thesis]. Colorado State University; 2018. Available from: http://hdl.handle.net/10217/191249

Virginia Tech

30. Showalter, Mark Henry. Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot.

Degree: MS, Mechanical Engineering, 2008, Virginia Tech

URL: http://hdl.handle.net/10919/34663

► The Multi-Appendage Robotic System (MARS) built for this research is a hexapod robotic platform capable of walking and performing manipulation tasks. Each of the six… (more)

▼ The Multi-Appendage Robotic System (MARS) built for this research is a hexapod robotic platform capable of walking and performing manipulation tasks. Each of the six limbs of MARS incorporates a three-degree of freedom (DOF), kinematically spherical proximal joint, similar to a shoulder or hip joint; and a 1-DOF distal joint, similar to an elbow or knee joint. Designing walking gaits for such multi-limb robots requires a thorough understanding of the kinematics of the limbs, including their workspace. The specic abilities of a walking algorithm dictate the usable workspace for the limbs. Generally speaking, the more general the walking algorithm is, the less constricted the workspace becomes. However, the entire limb workspace cannot be used in a continuous, statically stable, alternating tripedal gait for such a robot; therefore a subset of the limb workspace is dened for walking algorithms. This thesis develops MARS limb workspaces in the knee up conguration, and analyzes its limitations for walking on planar surfaces. The workspaces range from simple 2D geometry to complex 3D volumes. While MARS is a hexapedal robot, the tasks of dening the workspace and walking agorthm for all six limbs can be abstracted to a single limb using the constraint of a tripedal, statically stable gait. Based on understanding the behavior of an individual limb, a walking algorithm was developed to allow MARS to walk on level terrain. The algorithm is adaptive in that it continously updates based on control inputs. Open Tech developed a similar algorithm, based on a 2D workspace. This simpler algorithm developed resulted in smooth gait generation, with near-instantaneous response to control input. This accomplishment demonstrated the feasibility of implementing a more sophisticated algorithm, allowing for inputs of all six DOF: x and y velocity, z velocity or walking height, yaw, pitch and roll. This latter algorithm uses a 3D workspace developed to aord near-maximum step length. The workspace analysis and walking algorithm development in this thesis can be applied to the further advancement of walking gait generation algorithms. Advisors/Committee Members: Hong, Dennis W. (committeechair), Wicks, Alfred L. (committee member), Sturges, Robert H. (committee member).

Subjects/Keywords: Walking Algorithm; Hexapod; Gait Planning; Robot Locomotion; Kinematics; Workspace

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APA (6^th Edition):

Showalter, M. H. (2008). Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/34663

Chicago Manual of Style (16^th Edition):

Showalter, Mark Henry. “Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot.” 2008. Masters Thesis, Virginia Tech. Accessed March 05, 2021. http://hdl.handle.net/10919/34663.

MLA Handbook (7^th Edition):

Showalter, Mark Henry. “Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot.” 2008. Web. 05 Mar 2021.

Vancouver:

Showalter MH. Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot. [Internet] [Masters thesis]. Virginia Tech; 2008. [cited 2021 Mar 05]. Available from: http://hdl.handle.net/10919/34663.

Council of Science Editors:

Showalter MH. Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot. [Masters Thesis]. Virginia Tech; 2008. Available from: http://hdl.handle.net/10919/34663

Open Access Theses and Dissertations