Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Computer Engineering
Analysis Of An Actuated Two Segment Leg Model Of Locomotion, Nikhil Vinayak Rao
Analysis Of An Actuated Two Segment Leg Model Of Locomotion, Nikhil Vinayak Rao
Open Access Theses
Research studies on dynamic models of legged locomotion have generally focused on telescoping-type leg models. Such telescoping spring loaded inverted pendulum (SLIP) models have been able to accurately predict observed center of mass (CoM) trajectories. There have been comparatively fewer studies on dynamics of locomotion
with segmented legs. Some earlier studies on the dynamics due to leg segmentation appear straightforward. For example, a simple model with the only joint moment being due to a passive springy knee has been shown to behave similarly to a telescoping spring-mass model. However, in real-life animal locomotion, there are multiple joint-moments acting at the …
Design Of A Running Robot And The Effects Of Foot Placement In The Transverse Plane, Timothy James Sullivan
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 …