Computer Engineering Commons^™

Design Of A Running Robot And The Effects Of Foot Placement In The Transverse Plane, Timothy James Sullivan

Open Access Theses

The purpose of this thesis is to make advances in the design of humanoid bipedal running robots. We focus on achieving dynamic running locomotion because it is one metric by which we can measure how far robotic technologies have advanced, in relation to existing benchmarks set by humans and other animals. Designing a running human-inspired robot is challenging because human bodies are exceptionally complex mechanisms to mimic. There are only a few humanoid robots designed specifically for running and the existing robots are either constrained to a plane, do not yet exhibit human-like motion, or are unstable.

One aspect of …