| Título: | Bipedal running with one actuator per leg |
| Autores: | Neville, Neil |
| Fecha: | 2005 |
| Publicador: | McGill University - MCGILL |
| Fuente: |
 |
| Tipo: | Electronic Thesis or Dissertation |
| Tema: |
Engineering, Mechanical. Engineering, Robotics. |
| Descripción: | RHex is a cockroach-inspired hexapod robot capable of walking, running, and climbing. This thesis presents the development of a novel, three dimensional, bipedal running gait for RHex using only two actuated degrees of freedom (DOF), one per compliant leg. To the author's knowledge, there are no previous, two DOF bipeds capable of running. In this thesis it is experimentally demonstrated that only body pitch and leg angle sensing are required. The controller includes three levels of proportional derivative controls for balancing, forward speed and leg tracking, as well a leg trajectory generator and a means of forward speed estimation. With the addition of yaw angle feedback, high repeatability was obtained. Details of a platform upgrade are also presented. Finally, a simulation model of the robot was developed that, in conjunction with a genetic algorithm optimization used to tune the controller and gait parameters, produced a stable gait similar to those observed in experiment. |
| Idioma: | en |
1 Investigations on the form-genera Beauveria and Tritirachium por MacLeod, Donald Murdock | 6 Treatment and recovery in first-episode psychosis : a qualitative analysis of client experiences por Windell, Deborah L. |
2 Seismic sensitivity of tall guyed telecommunication towers. por Ghodrati Amiri, Gholamreza. | 7 |
3 Exploring the Relationship Between Assets and Family Stress Among Low-Income Families por Rothwell, David W.,Han, Chang-Keun | 8 |
4 The case for asset-based interventions with indigenous peoples: Evidence from Hawai‘i por Rothwell, David W. | 9 |
5 Second Thoughts: Who Almost Participates in an IDA Program? por Rothwell, David W.,Han, Chang-Keun | 10 Recent contributions to the phenomenology of musical time : a critical survey por Beaudreau, Pierre |