The work seeks toward further developing a novel robotic platform capable of stable three legged locomotion. This will be accomplished by creating a robust and adaptable robotic platform capable of executing different walking strategies and taking multiple continuous steps. Previous iterations of this platform have been developed, all of which have used a single gait strategy. This study will seek to develop two new strategies. The first of which is a modification of the original strategy with theoretically improved gate robustness. A second strategy will seek to implement more advanced control techniques to create a fully stable balanced gait. / Master of Science
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/51390 |
| Date | 12 February 2015 |
| Creators | Webb, Jacob Daniel |
| Contributors | Mechanical Engineering, Hong, Dennis W., Leonessa, Alexander, Sturges, Robert H. |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Detected Language | English |
| Type | Thesis |
| Format | ETD, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
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