Sökning: "gaits"

Visar resultat 1 - 5 av 15 avhandlingar innehållade ordet gaits.

  1. 1. Stability analysis and synthesis of statically balanced walking for quadruped robots

    Författare :Freyr Hardarson; KTH; []
    Nyckelord :legged locomotion; walking robots; mobile robots; stability measure; center of pressure; force distribution; kinematics; dynamics; gaits;

    Sammanfattning : .... LÄS MER

  3. 2. Applications of the Virtual Holonomic Constraints Approach : Analysis of Human Motor Patterns and Passive Walking Gaits

    Författare :Uwe Mettin; Anton Shiriaev; Umeå universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Motion Planning; Humanoid Robots; Virtual Holonomic Constraints; Underactuated Mechanical Systems; Mechanical Springs; Automatic control; Reglerteknik;

    Sammanfattning : In the field of robotics there is a great interest in developing strategies and algorithms to reproduce human-like behavior. One can think of human-like machines that may replace humans in hazardous working areas, perform enduring assembly tasks, serve the elderly and handicapped, etc. LÄS MER

  4. 3. Generation and Optimization of Motor Behaviors in Real and Simulated Robots

    Författare :Krister Wolff; Chalmers tekniska högskola; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; behavior-based robotics; bipedal robots; behavior selection; evolutionary robotics; linear genetic programming; autonomous robots;

    Sammanfattning : In this thesis, the problems of generating and optimizing motor behaviors for both simulated and real, physical robots have been investigated, using the paradigms of evolutionary robotics and behavior-based robotics. Specifically, three main topics have been considered: (1) On-line evolutionary optimization of hand-coded gaits for real, physical bipedal robots. LÄS MER

  5. 4. On Motion Control of Linear Incremental Hydraulic Actuators

    Författare :Martin Hochwallner; Petter Krus; Kalevi Huhtala; Linköpings universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Linear Incremental Hydraulic Actuator; novel actuator; linear hydraulic actuator; tracking problem; hydraulic servo system; digital fluid power;

    Sammanfattning : Linear Incremental Hydraulic Actuators combine one or more short-stroke cylinders, and two or more engaging/disengaging mechanisms into one actuator with long, medium, or even unlimited stroke length. The motion of each single short-stroke actuator concatenated by the engaging/disengaging mechanisms forms the motion of the linear incremental hydraulic actuator. LÄS MER

  7. 5. Simulation of individual cells in flow

    Författare :Lailai Zhu; Luca Brandt; Michael Graham; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Hydrodynamic interaction; swimming microorganisms; capsule; Stokes flow; finite element method; boundary integral method; general geometry Ewald method; spectral element method; viscoelastic fluid; cellular deformation; flow cytometry; cell sorting; microrheology; Teknisk mekanik; Engineering Mechanics;

    Sammanfattning : In this thesis, simulations are performed to study the motion ofindividual cells in flow, focusing on the hydrodynamics of actively swimming cells likethe self-propelling microorganisms, and of passively advected objects like the red bloodcells. In particular, we develop numerical tools to address the locomotion ofmicroswimmers in viscoelastic fluids and complex geometries, as well as the motion ofdeformable capsules in micro-fluidic flows. LÄS MER