Acoustics, Dynamics, and Controls Commons^™

Design And Data-Driven Identification Of A Quadruped Robot, Dakota Rufino

All Theses

The existence of nonlinearities and the lack of sufficient equations are fundamental challenges in modeling, analyzing, and controlling complex systems. However, recent developments revolutionizing the study of dynamical systems. An emerging method in nonlinear dynamical systems is the Koopman operator theory, which provides us with key advantages in performing the modeling, prediction, and control of nonlinear systems. The linear system representation allows us to leverage linear stability analysis. The first section of this thesis briefly covers the construction of a quadrupedal robot, a sufficiently complex nonlinear dynamical system, for the use of analyzing data-driven modeling techniques. The second section details …