Sökning: "Harry Dankowicz"

Hittade 3 avhandlingar innehållade orden Harry Dankowicz.

  1. 1. Quadruped robot control and variable leg transmissions

    Författare :Johan Ingvast; Jan Wikander; Harry Dankowicz; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; walking robot; quadruped; walking; crawl; trot; passively variable transmission; PVT; variable transmission; continuously variable transmission; velocity ratio; torque ratio; Other engineering mechanics; Övrig teknisk mekanik;

    Sammanfattning : The research presented in this thesis regards walking of quadruped robots, and particularly the walking of the Warp1 robot. The motivation for the robot is to provide a platform for autonomous walking in rough terrain. The thesis contains six papers ranging from development tools to actuation of robot legs. LÄS MER

  3. 2. Low-cost control of discontinuous systems including impacts and friction

    Författare :Fredrik Svahn; Annika Stensson Trigell; Harry Dankowicz; Jenny Jerrelind; Remco Leine; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; nonlinear dynamics; discontinuities; nonlinear control; impacts; friction; vehicle suspensions; Vehicle engineering; Farkostteknik;

    Sammanfattning : For a successful design of an engineering system it is essential to pay careful attention to its dynamic response. This is particularly true, in the case of nonlinear systems, since they can exhibit very complex dynamic behaviour, including multiple co-existing stable solutions and chaotic motions, characterized by large sensitivity to initial conditions. LÄS MER

  4. 3. On the stability and control of piecewise-smooth dynamical systems with impacts and friction

    Författare :Fredrik Svahn; Annika Stensson Trigell; Harry Dankowicz; Jenny Jerrelind; Lawrie Virgin; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; non-smooth dynamics; nonlinear control; low-velocity impacts; friction; bifurcations; Solid mechanics; Fastkroppsmekanik;

    Sammanfattning : This thesis concerns the analysis of dynamical systems suitable to be modelled by piecewise-smooth differential equations. In such systems the continuous-in-time dynamics is interrupted by discrete-in-time jumps in the state or governing equations of motion. LÄS MER