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Using the Phase Angle Oscillator Controller for Hopping Robots

Abstract As the robotic industry becomes increasingly present in some of the more extreme environments such as the battle field, disaster sites or extraplanetary exploration, it will be necessary to provide locomotive niche strategies that are optimal to each terrain. The hopping gait has been well studied in robotics and proven to be a potential method to fit some of these niche areas. There have been some difficulties in producing terrain following controllers that maintain robust, steady state, which are disturbance resistant.

The following thesis will discuss a controller which has shown the ability to produce these desired properties. A phase angle oscillator controller is shown to work remarkably well, both in simulation and with a one ... (more)
Created Date 2015
Contributor New, Philip Wesley (Author) / Sugar, Thomas G (Advisor) / Artemiadis, Panagiotis (Committee member) / Redkar, Sangram (Committee member) / Arizona State University (Publisher)
Subject Robotics / Mechanical engineering / Control / Hopper / Locomotion / Phase Angle / Quadruped / Robotics
Type Masters Thesis
Extent 72 pages
Language English
Reuse Permissions All Rights Reserved
Note Masters Thesis Mechanical Engineering 2015
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS

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Description Dissertation/Thesis