Cross Coupled Quadruped Robot Bounding with Leg Mass

B, Vikram (2015) Cross Coupled Quadruped Robot Bounding with Leg Mass. Masters thesis, Indian Institute of Technology Hyderabad.

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Abstract

Quadruped robots find application in military for load carrying, inspection of nuclear power plants and submarine, planetary explorations. The range and duration of these missions depend on the capability of the robot to be dynamically stable and run for many cycles.Moreover, dynamically stable robots, unlike statically stable robots can tolerate departures of the centre of mass from the support polygon formed by the legs in contact with the ground .To achieve dynamic stability, the observation of control laws based on symmetry conditions led to the idea of physical cross coupling between legs.

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IITH Creators:
IITH CreatorsORCiD
Item Type: Thesis (Masters)
Uncontrolled Keywords: Quadruped Robot, TD432
Subjects: Others > Mechanics
Divisions: Department of Physics
Depositing User: Library Staff
Date Deposited: 03 Aug 2015 06:33
Last Modified: 03 Aug 2015 06:33
URI: http://raiith.iith.ac.in/id/eprint/1761
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