DESIGN, SIMULATION, AND STABILITY OF A HEXAPEDAL RUNNING ROBOT

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" DESIGN, SIMULATION, AND STABILITY OF A HEXAPEDAL RUNNING ROBOT "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	150282
Doc. No	:	ET22074
Main Entry	:	Jonathan E. Clark
Title Proper	:	DESIGN, SIMULATION, AND STABILITY OF A HEXAPEDAL RUNNING ROBOT
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	Animals are the current gold standard of locomotion ability. Their ability to nav-igate rough terrain is unmatched by their man-made counterparts. Recent studiesby biologists have begun to demonstrate some of the principles behind their remark-able capabilities. In particular, studies of cockroaches have shown that they use afeed-forward motor actuation pattern that is virtually unchanged, even when runningover very rough terrain. It appears that their considerable structural compliancecontributes significantly to their stability when running. Their sprawled posture andtuned impedance in their musculoskeletal system enable an instantaneous or preflexresponse to disturbances. This allows for rapid response to the large perturbationsexperienced when interacting with irregular terrain.Consideration of these principles has led to the...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL45272.pdf
Title and statement of responsibility and	:	DESIGN, SIMULATION, AND STABILITY OF A HEXAPEDAL RUNNING ROBOT [Thesis]