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Design of a Thruster-Assisted Bipeda...

Kelly, Peter.

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Design of a Thruster-Assisted Bipedal Robot.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Design of a Thruster-Assisted Bipedal Robot./
Author:	Kelly, Peter.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
Description:	64 p.
Notes:	Source: Masters Abstracts International, Volume: 82-11.
Contained By:	Masters Abstracts International82-11.
Subject:	Robotics. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28490031
ISBN:	9798728238164

Design of a Thruster-Assisted Bipedal Robot.
Kelly, Peter.

Design of a Thruster-Assisted Bipedal Robot. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 64 p.

Source: Masters Abstracts International, Volume: 82-11.

Thesis (M.S.)--Northeastern University, 2021.

This item must not be sold to any third party vendors.

During the past few years, legged robot technology has been rapidly advancing. However, even the most advanced bipedal legged robots are susceptible to strong disturbances and slippery or impassible terrain. By introducing thrusters to enable hybrid legged-aerial locomotion, these problems can be circumvented by increasing a robot's stability and allowing it to jump over obstacles. Harpy is a bipedal robot with eight actuators and two thrusters that serves as a hardware platform for developing control algorithms to advance research in thruster assisted bipedal legged locomotion. This thesis explores the conception, simulation, and electromechanical design process of the robot, which prioritizes thrust-to-weight ratio, impact resistance, power density, and modularity. The fabrication process of actuators and the leg which enable the robot to be both light and strong and testing of the leg design and thrusters is also discussed.

ISBN: 9798728238164Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

Legged robots

Design of a Thruster-Assisted Bipedal Robot.
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245 1 0 $a Design of a Thruster-Assisted Bipedal Robot.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2021
300 $a 64 p.
500 $a Source: Masters Abstracts International, Volume: 82-11.
500 $a Advisor: Ramezani, Alireza;Whitney, Peter.
502 $a Thesis (M.S.)--Northeastern University, 2021.
506 $a This item must not be sold to any third party vendors.
520 $a During the past few years, legged robot technology has been rapidly advancing. However, even the most advanced bipedal legged robots are susceptible to strong disturbances and slippery or impassible terrain. By introducing thrusters to enable hybrid legged-aerial locomotion, these problems can be circumvented by increasing a robot's stability and allowing it to jump over obstacles. Harpy is a bipedal robot with eight actuators and two thrusters that serves as a hardware platform for developing control algorithms to advance research in thruster assisted bipedal legged locomotion. This thesis explores the conception, simulation, and electromechanical design process of the robot, which prioritizes thrust-to-weight ratio, impact resistance, power density, and modularity. The fabrication process of actuators and the leg which enable the robot to be both light and strong and testing of the leg design and thrusters is also discussed.
590 $a School code: 0160.
650 4 $a Robotics. $3 519753
650 4 $a Mechanical engineering. $3 649730
650 4 $a Industrial engineering. $3 526216
650 4 $a Electrical engineering. $3 649834
653 $a Legged robots
653 $a Slippery or impassible terrain
653 $a Thrusters
653 $a Hybrid legged-aerial locomotion
653 $a Stability
653 $a Jump
690 $a 0771
690 $a 0548
690 $a 0544
690 $a 0546
710 2 $a Northeastern University. $b Mechanical and Industrial Engineering. $3 1035359
773 0 $t Masters Abstracts International $g 82-11.
790 $a 0160
791 $a M.S.
792 $a 2021
793 $a English
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28490031