Sökning: "quadruped"

Visar resultat 1 - 5 av 6 avhandlingar innehållade ordet quadruped.

  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. 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

  4. 3. Risk Aware Path Planning and Dynamic Obstacle Avoidance towards Enabling Safe Robotic Missions

    Författare :Samuel Karlsson; George Nikolakopoulos; Georgia Chalvatzaki; Luleå tekniska universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Robotic; Path planning; Obstacle avoidanc; Robotic missions; licenti thesis; Robotics and Artificial Intelligence; Robotik och artificiell intelligens;

    Sammanfattning : This compilation thesis presents two main contributions in path planning and obstacle avoidance, as well as an integration of the proposed modules with other frameworks to enable resilient robotic missions in complex environments.In general, through different types of robotic missions it is important to have a collision tolerant and reliable system, both regarding potential risks from collisions with dynamic and static obstacles, but also to secure the overall mission success. LÄS MER

  5. 4. Computer Simulation of the Neural Control of Locomotion in the Cat and the Salamander

    Författare :Nalin Harischandra; Örjan Ekeberg; Silvia Gruhn; KTH; []
    Nyckelord :NATURVETENSKAP; NATURAL SCIENCES; NATURVETENSKAP; NATURAL SCIENCES; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Locomotion; Computer simulation; Central pattern generator; System identification; Gait transition; Sensory feedback; Spiking neural networks;

    Sammanfattning : Locomotion is an integral part of a whole range of animal behaviours. The basic rhythm for locomotion in vertebrates has been shown to arise from local networks residing in the spinal cord and these networks are known as central pattern generators (CPG). LÄS MER

  7. 5. Learning-based Control for 4D Printing and Soft Robotics

    Författare :Qinglei Ji; Lei Feng; Lihui Wang; Xi Vincent Wang; Yong Chen; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; 3D Printing; 4D Printing; Soft Robots; Machine Learning; Reinforcement Learning; Control; Production Engineering; Industriell produktion;

    Sammanfattning : Exploiting novel sensors and actuators made of flexible and smart materials becomes a new trend in robotics research. The studies on the design, production, and control of the new type of robots motivate the research fields of soft robots and 4D printed robots. LÄS MER