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Design and control of a six-legged mobile robot朱國基, Chu, Kwok-kei. January 2001 (has links)
published_or_final_version / Electrical and Electronic Engineering / Master / Master of Philosophy
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Modeling, control and simulation of three-dimensional robotic systems with applications to biped locomotion/Zheng, Yuan-Fang January 1984 (has links)
No description available.
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Models for animal movements / Peter Leith Chesson.Chesson, Peter Leith January 1976 (has links)
vii, 343 leaves : diags. tables. ; 30 cm / Title page, contents and abstract only. The complete thesis in print form is available from the University Library. / Thesis (Ph.D.)--University of Adelaide, Dept. of Statistics, 1978
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Musculo-skeletal dynamics and multiprocessor control of a biped model in a turning maneuver /Chen, Ben-Ren January 1985 (has links)
No description available.
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Range of motion of beetle body as a function of foot positionsFoo, Chee Kit 11 March 1991 (has links)
This thesis presents a method for determining range
of body motion for a walking machine with feet fixed on
the ground. The darkling beetle was selected as the
sample subject in this study.
A closed form inverse kinematic solution is used to
determine if a point in space is within range of body
motion. An algorithm for tracing workspace boundary is
also presented.
The software, developed in Microsoft QuickC, has
three main parts: (1) a module for searching the
workspace contours and recording the contour points, (2)
a plotting program for presentation of the workspace on
the screen, (3) a module to determine ranges of roll,
pitch and yaw for specified foot positions. The plotting
program shows four views of the workspace, including
front, top, and side views, and user specified axonometric
projection.
Body range of motion for a representative set of foot
positions is presented and analyzed. Results are
presented for normal resting height (10mm) and for 8mm and
12mm heights. Body range of motion for feet positioned
for the alternating tripod gait is also presented. Ranges
of roll, pitch and yaw have been determined and are
discussed. / Graduation date: 1991
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Range of motion of beetle body as a function of leg parametersHsu, Chun-chia 03 December 1991 (has links)
This thesis examines the influence on range-of-motion
of beetle body of changes in leg segment
parameters. From beetle's leg orientation, influence of
the following leg segment parameters are investigated:
coxa length, coxa twist and body-coxa joint.
Kinematic equations are derived for legs of the
beetle. Roots of quartic polynomials obtained while
solving the kinematic equations are found by using the
Bairstow (1966) numerical method. Inverse kinematic
solutions are obtained for each leg and used to determine
whether a point is within the body range of motion or
not. An algorithm developed by Mason (1957) and Cordray
(1957) for tracing closed boundaries is used to find
ranges of motion of the body and feet.
Changes in body range of motion caused by alteration
in leg segment parameters are complex and not easy to
explain. Similarities between changes in body range of
motion and foot range of motion are observed. A great
deal more work is necessary to fully understand the
importance of observed changes. / Graduation date: 1992
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Neural compensation, muscle load distribution and muscle function in control of biped models /Bavarian, Behnam January 1984 (has links)
No description available.
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A simplified dynamic model of the hind leg of a beetle during step initiationMallysetty, Venkata Ramana 18 February 1992 (has links)
This thesis investigates a simple dynamic model of the hind leg
of a beetle during initiation of a step. The primary assumption was
that the full load of the body was carried on the hind leg during
this time. That is, the only forces on the body were that of the
hind leg and gravity and their resultant produced forward
acceleration.
Only two dimensional models were used in this study. This was
justified since the beetle is bilaterally symmetrical. However, it
required the assumption that hind legs were positioned symmetrically
and it limited the investigation to forward acceleration in a
straight line.
Models with two and three links were tested. The two link
model assumed the body has no motion relative to the upper legs; that
is the muscles were strong enough to prevent movement at the joint
between body and leg. The three link model assumed only friction
prevented movement at the joint between body and leg.
Dynamic equations were developed using Lagrangian mechanics.
These equations were integrated using the 4th order Runge-Kutta
algorithm. Both models were driven by applying a constant torque at
the joint between upper and lower segments. Driving torque was
adjusted to minimize verical movement of body center of mass.
Initial position of body center of mass relative to foot was
varied to examine it's influence on both horizontal travel of body,
center of mass and driving torque required for this travel.
For both models horizontal travel was less dependent on initial
height of body center-of-mass than on initial horizontal position.
For both models required driving torque increased with decrease in
initial height of body center-of-mass and with increase of initial
horizontal distance from foot to body center-of-mass. For both
models maximum horizontal travel was attained with minimum initial
height of body center-of-mass and minimum initial horizontal distance
between foot and body center-of-mass. For the two link model,
maximum horizontal travel was approximately half of the total leg
length while for the three link model the equivalent number was
approximately one quarter, of total leg length. / Graduation date: 1992
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Reduced order multi-legged mathematical model of cockroach locomotion on inclinesPeterson, Delvin E. 11 July 2011 (has links)
While the locomotion performance of legged robots over flat terrain or known obstacles has improved over the past few decades, they have yet to equal the performance of their animal counterparts over variable terrain. This work analyzes a multi-legged reduced order model of cockroach locomotion on variable slopes which will be used as an inspiration for a future sprawled posture legged robot. The cockroach is modeled as a point mass, and each leg of the cockroach is modeled as a massless, tangentially rigid, linearly elastic spring attached at the center of mass. All of the springs are actuated to allow changes in energy to the system. This is accomplished by varying the force free length of each leg in a feed-forward manner without reliance on feedback to change the actuation scheme. Fixed points of the model are found using a numerical solver that varies the velocity and phase shift parameters while leaving all other parameters at fixed values selected to match true cockroach motion. Each fixed point is checked for stability and robustness representing how effective the model is at staying on the predetermined gait, and transport cost as a measure of how efficient this gait is. Stable and robust fixed points were successfully found for the range of heading angles encompassing those of representative cockroach motion at each slope. Cockroaches may select the gait
used based on stability or efficiency. Thus, additional fixed points were found in combination with a search routine that varies the leg actuation parameters in order to optimize either stability or metabolic efficiency, gaining insights into why cockroaches use the gaits that they do. Optimized fixed points were found based on four different leg functional combination families depending on whether each leg pushes or pulls. Optimized fixed point gaits exist for every incline slope studied between level ground and vertical slopes, at a range of initial heading angles that encompass those typically used by cockroaches. The selected gaits using both a stability based and an efficiency based optimization on the modeled cockroach are very similar. Both are also similar to gaits used by real cockroaches. The forces generated by the model are qualitatively similar
to the experimental forces. / Graduation date: 2012
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Mathematical representation and analysis of articular surfaces: application to the functional anatomy and palaeo-anthropology of the ankle jointChristie, Peter, Webb January 1990 (has links)
A thesis submitted to the Faculty of Science,
University of the Witwatersrand, Johannesburg,
in fulfillment of the requirements for the degree of
Doctor of Philosophy / This thesis is a study of quantifiable variation in the geometric shape
of the superior articular surface of the talus of
higher primates, with special reference to fossil tali of Plio-
Pleistocene hominids. (Abbreviation abstract ) / AC2017
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