Leg Specialization Control: Deriving Control from the Perspective of Limb Function
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 (LS...
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| Format: | Others |
| Language: | English English |
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Florida State University
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| Online Access: | http://purl.flvc.org/fsu/fd/FSU_SUMMER2017_Carbiener_fsu_0071N_13986 |
| Summary: | 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. === A Thesis submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degree of Master of Science. === Summer Semester 2017. === June 12, 2017. === Adaptive, Dynamics, Leg Specialization, Robotics, Running, Sprawl === Includes bibliographical references. === Jonathan Clark, Professor Directing Thesis; Camilo Ordonez, Committee Member; Chengying Xu, Committee Member; Emmanuel Collins, Committee Member. |
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