Northwestern University

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Equilibria as Motion Generators for Bipedal Robots

Description:

Biped robots utilize varying contact conditions and collision between their hands and feet and the walking and climbing surfaces in their environment to navigate their surroundings. This thesis presents a method for generating a continuum of gaits in a unified and extensible framework for physically-symmetric bipeds (bipeds with left and...

Keyword:

Bipeds, Continuation Methods, Gait Generation, Equilibria, and Motion Templates

Subject:

Robotics

Creator:

Rosa, Nelson

Owner:

Scholarly Digital Publishing

Language:

en

Date Uploaded:

02/12/2020

Date Created:

2018-01-01

Resource Type:

Dissertation

Alternate Identifier:

http://dissertations.umi.com/northwestern:14396 and etdadmin_upload_616070