Force and motion coordination of legged robots for walking ability improvement
Compared with a wheeled mobile robot, a legged robot is more capable to walk in un-structured natural environment. To fully exert this ability in such a condition is one of the main concerns in the development of legged robots. It is well-known that the interaction between the foot and the ground pl...
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| Format: | Thesis |
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2008
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| Online Access: | http://hdl.handle.net/10356/5569 |
| _version_ | 1826112594677596160 |
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| author | Zhou, Debao. |
| author2 | Low, Kin Huat |
| author_facet | Low, Kin Huat Zhou, Debao. |
| author_sort | Zhou, Debao. |
| collection | NTU |
| description | Compared with a wheeled mobile robot, a legged robot is more capable to walk in un-structured natural environment. To fully exert this ability in such a condition is one of the main concerns in the development of legged robots. It is well-known that the interaction between the foot and the ground plays a crucial effect on the walking ability. Considering leg-end forces, three methods are proposed in this thesis to improve the walking ability of a legged robot. |
| first_indexed | 2024-10-01T03:09:37Z |
| format | Thesis |
| id | ntu-10356/5569 |
| institution | Nanyang Technological University |
| last_indexed | 2024-10-01T03:09:37Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | ntu-10356/55692023-03-11T17:09:57Z Force and motion coordination of legged robots for walking ability improvement Zhou, Debao. Low, Kin Huat School of Mechanical and Production Engineering DRNTU::Engineering::Mechanical engineering::Robots Compared with a wheeled mobile robot, a legged robot is more capable to walk in un-structured natural environment. To fully exert this ability in such a condition is one of the main concerns in the development of legged robots. It is well-known that the interaction between the foot and the ground plays a crucial effect on the walking ability. Considering leg-end forces, three methods are proposed in this thesis to improve the walking ability of a legged robot. Doctor of Philosophy (MPE) 2008-09-17T10:53:57Z 2008-09-17T10:53:57Z 2003 2003 Thesis http://hdl.handle.net/10356/5569 Nanyang Technological University application/pdf |
| spellingShingle | DRNTU::Engineering::Mechanical engineering::Robots Zhou, Debao. Force and motion coordination of legged robots for walking ability improvement |
| title | Force and motion coordination of legged robots for walking ability improvement |
| title_full | Force and motion coordination of legged robots for walking ability improvement |
| title_fullStr | Force and motion coordination of legged robots for walking ability improvement |
| title_full_unstemmed | Force and motion coordination of legged robots for walking ability improvement |
| title_short | Force and motion coordination of legged robots for walking ability improvement |
| title_sort | force and motion coordination of legged robots for walking ability improvement |
| topic | DRNTU::Engineering::Mechanical engineering::Robots |
| url | http://hdl.handle.net/10356/5569 |
| work_keys_str_mv | AT zhoudebao forceandmotioncoordinationofleggedrobotsforwalkingabilityimprovement |