Human motion is controlled by the neuro-muscular system. But bipedal walking, an example of a basic human motion, might be largely understood as a passive mechanical process [3]. For example, Tad McGeer demonstrated, by both computer simulation and physical model construction (both of which we have repeated), that a somewhat anthropomorphic legged mechanism with four moving links can exhibit st...

Efficient motion estimation is central to observing and controlling dynamic legged locomotion. This paper considers a screw-theoretic (line-oriented) representation for this context and illustrates this on the attitude estimation subproblem. This is presented as part of an Extended Kalman Filter (EKF) based on inertial (gyroscopic) sensing in which each measurement axis is treated as an zeropit...

Alduro is a four-legged walking robot. Its main goal is to operate in rugged terrain, translating the cartesian operator commands (joystick) into actuator space by coordinating the legs according to the users wish. At the same time static stability has to be guaranteed, obstacles have to be avoided and the posture of the main body kept. This requires an elaborate motion coordination and control...

Designing an effective motion control for legged robots is a challenging task. Inspired by biological concept of central pattern generator, this paper proposes a locomotion control system consisting of a workspace trajectory modulator and a motion engine. The modulator adjusts swinging phase and supporting phase of a leg by adjusting toe positions on a predesigned workspace trajectory, while mo...

This paper focuses on motion which is considered an important issue for insect robots, consumes significant energy sources in general. We inspired the robot design structure from challenges that crawling insects face nature, especially a cockroach. The proposed configuration enhanced error scale such as modulation, computation, and mass. presents construction of six-legged with minimum number t...

Our research focuses on automating the color-learning process on-board a legged robot with limited computational and memory resources. A key defining feature of our approach is that instead of using explicitly labeled training data it trains autonomously and incrementally, thereby making it robust to re-colorings in the environment. Prior results demonstrated the ability of the robot to learn a...

A spherical parallel manipulator (also called an orientational parallel manipulator or rotational parallel manipulator) refers to a threedegree-of-freedom (3-DoF) parallel manipulator in which the moving platform undergoes a 3-DoF spherical motion or rotates about a fixed point. In this paper, we propose a new method for the type synthesis of non-overconstrained (isostatic) spherical parallel m...

MODEL-BASED IDENTIFICATION AND CONTROL OF A ONE-LEGGED HOPPING ROBOT Hasan Eftun Orhon M.S. in Electrical and Electronics Engineering Advisor: Ömer Morgül January 2018 Spring-mass models are well established tools for the analysis and control of legged locomotion. Among the alternatives, spring-loaded inverted pendulum (SLIP) model has shown to be a very accurate descriptor of animal locomotion...

Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of locomotion, but traversing unfavorable environments may require several forms of locomotion to be sequenced together, such as walking, crawling, and jumping. Multi-modal motion planners can be used to address some of thes...