Through limb structure and neuromuscular control, animals have demonstrated the ability to navigate obstacles and uneven terrain using a variety of different mechanisms and behaviors. Learning from the capabilities of animals, it is possible to develop robotic platforms that can aid in the study of these motions towards the production of new technologies for military, search and rescue, and medical applications. To produce these systems, it is important to first understand the underlying dynamics and design principles existent in nature that afford creatures such dexterous and agile movements. The creation of robots with legs provide a means for studying different aspects of the dynamics of legged locomotion. This includes investigations of limb coordination for gait controller design, the role of passive compliance in dynamic running, mechanical leg design and configuration for optimal energetic output, and scalability of legged systems in both simulation and through experimentation. This thesis aims to provide insight into the design and implementation of terrestrial robotic platforms with legs. / A Thesis submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degree of Master of Science. / Summer Semester 2018. / July 13, 2018. / dynamic simulation, gait design, kinematics, legged robots / Includes bibliographical references. / Jonathan Clark, Professor Directing Thesis; William Oates, Committee Member; Carl A. Moore, Committee Member.
| Identifer | oai:union.ndltd.org:fsu.edu/oai:fsu.digital.flvc.org:fsu_647190 |
| Contributors | Blackman, Daniel J. (author), Clark, Jonathan E. (professor directing thesis), Oates, William (committee member), Moore, Carl A. (committee member), Florida State University (degree granting institution), 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, master thesis |
| Format | 1 online resource (53 pages), computer, application/pdf |
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