2026-09-19T10:33:14Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/296952022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Hugh M. Herr.
Malchano, Matthew David, 1980-
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2006-03-24T16:16:05Z
2006-03-24T16:16:05Z
2003
2003
http://hdl.handle.net/1721.1/29695
53883925
Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.
Includes bibliographical references (p. 63-66).
This thesis presents a controller which produces a stable, dynamic 1.4 meter per second run in a simulated twelve degree of freedom six-legged robot. The algorithm is relatively simple; it consists of only a few hand-tuned feedback loops and is defined by a total of 13 parameters. The control utilizes no vestibular-type inputs to actively control orientation. Evidence from perturbation, robustness, motion analysis, and parameter sensitivity tests indicate a high degree of stability in the simulated gait. The control approach generates a run with an aerial phase, utilizes force information to signal aerial phase leg retraction, has a forward running velocity determined by a single parameter, and couples stance and swing legs using angular momentum information. Both the hypotheses behind the control and the resulting gait are argued to be plausible models of biological locomotion.
by Matthew David Malchano.
M.Eng.
66 p.
2307001 bytes
2306810 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Biologically-plausible six-legged running : control and simulation
Thesis
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