Page 1 |
Save page Remove page | Previous | 1 of 90 | Next |
|
small (250x250 max)
medium (500x500 max)
Large (1000x1000 max)
Extra Large
large ( > 500x500)
Full Resolution
All (PDF)
|
This page
All
|
DESIGN AND CONTROL OF A TWO-MODE MONOPOD
by
Kale Harbick
A Dissertation Presented to the
FACULTY OF THE GRADUATE SCHOOL
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
DOCTOR OF PHILOSOPHY
(COMPUTER SCIENCE)
August 2008
Copyright 2008 Kale Harbick
Object Description
| Title | Design and control of a two-mode monopod |
| Author | Harbick, Kale |
| Author email | harbick@gmail.com |
| Degree | Doctor of Philosophy |
| Document type | Dissertation |
| Degree program | Computer Science (Robotics & Automation) |
| School | Viterbi School of Engineering |
| Date defended/completed | 2008-06-04 |
| Date submitted | 2008 |
| Restricted until | Unrestricted |
| Date published | 2008-07-29 |
| Advisor (committee chair) | Sukhatme, Gaurav S. |
| Advisor (committee member) |
Schaal, Stefan McNitt-Gray, Jill L. |
| Abstract | Legged machines can traverse terrain unreachable by wheels or tracks. Similarly running machines have capabilities that exceed those of walking machines. The running machines constructed thus far have mainly served as existence proofs of various single locomotion modes. In this thesis we present a robot design that incorporates two locomotion modes, hopping and scooting, with a minimal number of actuators, and the added capability of being able to transition between modes as needed. We develop controllers for both modes and demonstrate their feasibility in simulation. We also present experimental results for a scooting robot. |
| Keyword | locomotion; hopping |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Type | texts |
| Legacy record ID | usctheses-m1451 |
| Contributing entity | University of Southern California |
| Rights | Harbick, Kale |
| Repository name | Libraries, University of Southern California |
| Repository address | Los Angeles, California |
| Repository email | cisadmin@lib.usc.edu |
| Filename | etd-Harbick-20080729 |
| Archival file | uscthesesreloadpub_Volume17/etd-Harbick-20080729.pdf |
Description
| Title | Page 1 |
| Contributing entity | University of Southern California |
| Repository email | cisadmin@lib.usc.edu |
| Full text | DESIGN AND CONTROL OF A TWO-MODE MONOPOD by Kale Harbick A Dissertation Presented to the FACULTY OF THE GRADUATE SCHOOL UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree DOCTOR OF PHILOSOPHY (COMPUTER SCIENCE) August 2008 Copyright 2008 Kale Harbick |
