Search for dissertations about: "Walking robots"

Showing result 1 - 5 of 12 swedish dissertations containing the words Walking robots.

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

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

    Abstract : .... READ MORE

  4. 2. Legged locomotion : Balance, control and tools - from equation to action

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

    Abstract : 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. READ MORE

  5. 3. Quadruped robot control and variable leg transmissions

    Author : Johan Ingvast; Jan Wikander; Harry Dankowicz; KTH; []
    Keywords : 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;

    Abstract : 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. READ MORE

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

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

    Abstract : 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. READ MORE

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

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

    Abstract : 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. READ MORE