The flexibility of animals limbs combined with the robustness of locomotion traversing unstructured terrains allow animals such as geckos and cockroaches to move dynamically in both horizontal and vertical domains. To capture this biological inspiration and the features which enable the performance, several approaches have been used including attempting to capture the morphological complexity of animals as well as determining shared fundamental dynamics of numerous animal in a single domain. These tools have lead to numerous robotics platforms along with the associated controllers which are able to either approach the flexibility or locomotive speeds of their biological inspiration. However, the robustness seen with biology has not been achieved with animal like speeds. This motivates the exploration of the dynamic understanding required to develop control which supplements and does not interfere with the passive dynamics representative of animal locomotion. This dissertation focuses on several topics related to the dynamics and control within the horizontal and vertical domains. These include defining three distinct dynamic gaits within the vertical domain (walking, running with a flight phase, and compliant running) along the associated implications of these gaits, determining the impact of power input on the gaits and stability selected as slope is varied from horizontal to vertical, and testing the robustness of a new dynamic decomposition based control for horizontal domain running. The resulting insights of this work will enable dynamic decomposition based control to be extended for the first time to the vertical domain and will provide insights into the design of future multi-modal robotic platforms / A Dissertation submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degree of Doctor of Philosophy. / Spring Semester 2019. / April 2, 2019. / Biologically Inspired Robotics, Climbing Robotics, Control, Dynamic, Legged Robotics, Simulation / Includes bibliographical references. / Jonathan Clark, Professor Directing Thesis; Rodney Roberts, University Representative; William Oates, Committee Member; Patrick Hollis, Committee Member; Camilo Ordonez, Committee Member.
| Identifer | oai:union.ndltd.org:fsu.edu/oai:fsu.digital.flvc.org:fsu_709067 |
| Contributors | Brown, Jason Michael (author), Clark, Jonathan E. (Professor Directing Thesis), Roberts, Rodney G. (University Representative), Oates, William (Committee Member), Hollis, Patrick J. (Committee Member), Ordonez, Camilo (Committee Member), Florida State University (degree granting institution), FAMU-FSU College of Engineering (degree granting college), Department of Mechanical Engineering (degree granting departmentdgg) |
| Publisher | Florida State University |
| Source Sets | Florida State University |
| Language | English, English |
| Detected Language | English |
| Type | Text, text, doctoral thesis |
| Format | 1 online resource (122 pages), computer, application/pdf |
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