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Control of Legged Robotic Systems

Title: Control of Legged Robotic Systems: Substantiation of Gait Design, Multi-Modal Behaviors, and Dynamic Scaling Theory in Practice.
Name(s): 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 department
Type of Resource: text
Genre: Text
Master Thesis
Issuance: monographic
Date Issued: 2018
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: 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.
Identifier: 2018_Su_Blackman_fsu_0071N_14797 (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 2018.
Date of Defense: July 13, 2018.
Keywords: dynamic simulation, gait design, kinematics, legged robots
Bibliography Note: Includes bibliographical references.
Advisory Committee: Jonathan Clark, Professor Directing Thesis; William Oates, Committee Member; Carl A. Moore, Committee Member.
Subject(s): Robotics
Persistent Link to This Record:
Host Institution: FSU

Choose the citation style.
Blackman, D. J. (2018). Control of Legged Robotic Systems: Substantiation of Gait Design, Multi-Modal Behaviors, and Dynamic Scaling Theory in Practice. Retrieved from