Investigation of Standing Up Strategies and Considerations for Gait Planning for a Novel Three-Legged Mobile Robot
This thesis addresses two important issues when operating the novel three legged mobile robot STriDER (Self-excited Tripedal Dynamic Experimental Robot); how to stand up after falling down while minimizing the motor torques at the joints and considerations for gait planning. STriDER uses a unique tr...
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Virginia Tech
2014
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| Online Access: | http://hdl.handle.net/10919/32319 http://scholar.lib.vt.edu/theses/available/etd-05072008-112043/ |