Thesis (M.A.)--University of Adelaide, School of Social Sciences, Discipline of Geography and Environmental Studies, 2005? / Title from screen page (viewed February 24, 2006). Bibliography: leaves 151-159. Also available in electronic version.

Thesis (Ed. D.)--West Virginia University, 2004. / Title from document title page. Document formatted into pages; contains viii, 159 p. : ill. (some col.). Includes abstract. Includes bibliographical references.

Thesis (MS )--Montana State University--Bozeman, 2008. / Typescript. Chairperson, Graduate Committee: Daniel P. Heil. Includes bibliographical references (leaves 59-62).

Thesis (Ph. D.)--University of Oklahoma, 2005. / Includes bibliographical references (leaves 113-125). Also available online (PDF file) by a subscription to the set or by purchasing the individual file.

Thesis (Ph. D.)--University of Oklahoma, 2005. / Includes bibliographical references (leaves 113-125)

Passive dynamic walking is a manner of walking developed, partially or in whole, by the energy provided by gravity. Studying passive dynamic walking provides insight into human walking and is an invaluable tool for designing energy efficient biped robots. The objective of this research was to develop a new mathematical model of passive dynamic walking that modeled the ground reaction forces. A physical passive walker was built to validate the proposed mathematical model. The stability of the gait was analyzed using the proposed model. A novel method was created to determine the stability region of the model. Using the insights gained from the stability analysis, the relation between the angular momentum and the stability of the gait was examined. The proposed model matched the gait of the physical passive walker exceptionally well, both in trend and magnitude. The angular momentum of the passive walker was not found to correlate to the stability of the gait.

Passive dynamic walking is a manner of walking developed, partially or in whole, by the energy provided by gravity. Studying passive dynamic walking provides insight into human walking and is an invaluable tool for designing energy efficient biped robots. The objective of this research was to develop a new mathematical model of passive dynamic walking that modeled the ground reaction forces. A physical passive walker was built to validate the proposed mathematical model. The stability of the gait was analyzed using the proposed model. A novel method was created to determine the stability region of the model. Using the insights gained from the stability analysis, the relation between the angular momentum and the stability of the gait was examined. The proposed model matched the gait of the physical passive walker exceptionally well, both in trend and magnitude. The angular momentum of the passive walker was not found to correlate to the stability of the gait.

Univ., Magisterarbeit, 2007--Frankfurt (Main).

This diploma thesis deals with design and implementation of the controllers of a mobile walking robot. The advantage of these controllers are their kinematics and geometrics independent representation, which allow to use them for different robot types and tasks. In this thesis the contact controller is designed, which minimizes residual forces and torques at the robot's center of gravity, and thereby stabilize robot's body. Next the thesis deals with a posture controller, which maximizes a heuristic posture measure to optimize posture of robot body. Because of this optimization, legs are moved away from their limits and therefore they have more working space for next move. Implementation of the chosen solution is made on the robot's MATLAB mathematical model. Controllers are composed into a control basis, that allows to solve general control tasks by simultaneous combination of contained controllers. The algorithm was created for that simultaneous activation and its operation was explained on flow charts.

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