Sökning: "walking robot"

Visar resultat 1 - 5 av 11 avhandlingar innehållade orden walking robot.

  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. State Estimation and Limited Communication Control for Nonlinear Robotic Systems

    Författare :Henrik Rehbinder; KTH; []
    Nyckelord :Nonlinear observer; high-gain observer; implicit output; SO 3 ; mobile robot; walking robot; inertial sensor; rate gyro; accelerometer; limited communication; sampled-data control; combinatorial optimization;

    Sammanfattning : .... LÄS MER

  4. 3. Control system architecture for a walking robot

    Författare :Lennart Pettersson; KTH; []
    Nyckelord :;

    Sammanfattning : .... LÄS MER

  5. 4. Contributions to motion planning and orbital stabilization : case studies: Furuta pendulum swing up, inertia wheel oscillations and biped robot walking

    Författare :Pedro Xavier Miranda La Hera; Anton Shiriaev; Umeå universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Under-actuated Systems; Orbital Exponential Stability; Motion Planning; Virtual Constraints; Walking robots; Automatic control; Reglerteknik;

    Sammanfattning : Generating and stabilizing periodic motions in nonlinear systems is a challenging task. In the control system community this topic is also known as limit cycle control. In recent years a framework known as Virtual Holonomic Constraints (VHC) has been developed as one of the solutions to this problem. LÄS MER

  7. 5. Legged locomotion : Balance, control and tools - from equation to action

    Författare :Christian Ridderström; KTH; []
    Nyckelord :legged locomotion; control; balance; legged machines; legged robots; walking robots; walking machines; compliance; platform stability;

    Sammanfattning : This thesis is about control and balance stability of leggedlocomotion. It also presents a combination of tools that makesit easier to design controllers for large and complicated robotsystems. The thesis is divided into four parts. LÄS MER