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Leg Specialization Control

Title: Leg Specialization Control: Deriving Control from the Perspective of Limb Function.
Name(s): Carbiener, Charles P., author
Clark, Jonathan E., professor directing thesis
Ordonez, Camilo, 1979-, committee member
Xu, Chengying, committee member
Collins, Emmanuel G., committee member
Florida State University, degree granting institution
College of Engineering, degree granting college
Department of Mechanical Engineering, degree granting department
Type of Resource: text
Genre: Text
Master Thesis
Issuance: monographic
Date Issued: 2017
Publisher: Florida State University
Place of Publication: Tallahassee, Florida
Physical Form: computer
online resource
Extent: 1 online resource (53 pages)
Language(s): English
Abstract/Description: Many leg controllers and gaits have been designed directly with lower level parameters. This approach can lead to very high performance gaits, but can also lead to platforms highly tuned for one particular application with drastically reduced performance elsewhere. Through the Leg Specialization (LSC) gait strategy presented here, an alternative approach is demonstrated. Designing controllers from the perspective of limb function allows for adaptation to various environments, and here has produced a high performing gait capable of running on a variety of surfaces.
Identifier: FSU_SUMMER2017_Carbiener_fsu_0071N_13986 (IID)
Submitted Note: A Thesis submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degree of Master of Science.
Degree Awarded: Summer Semester 2017.
Date of Defense: June 12, 2017.
Keywords: Adaptive, Dynamics, Leg Specialization, Robotics, Running, Sprawl
Bibliography Note: Includes bibliographical references.
Advisory Committee: Jonathan Clark, Professor Directing Thesis; Camilo Ordonez, Committee Member; Chengying Xu, Committee Member; Emmanuel Collins, Committee Member.
Subject(s): Robotics
Mechanical engineering
Persistent Link to This Record:
Owner Institution: FSU

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Carbiener, C. P. (2017). Leg Specialization Control: Deriving Control from the Perspective of Limb Function. Retrieved from