東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Passive variable compliance for dyna...

Galloway, Kevin C.

Linked to FindBook

Google Book

Amazon

博客來

Passive variable compliance for dynamic legged robots.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Passive variable compliance for dynamic legged robots./
Author:	Galloway, Kevin C.
Description:	157 p.
Notes:	Source: Dissertation Abstracts International, Volume: 72-05, Section: B, page: .
Contained By:	Dissertation Abstracts International72-05B.
Subject:	Engineering, Mechanical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3447626
ISBN:	9781124531700

Passive variable compliance for dynamic legged robots.
Galloway, Kevin C.

Passive variable compliance for dynamic legged robots. - 157 p.

Source: Dissertation Abstracts International, Volume: 72-05, Section: B, page: .

Thesis (Ph.D.)--University of Pennsylvania, 2010.

Recent developments in legged robotics have found that constant stiffness passive compliant legs are an effective mechanism for enabling dynamic locomotion. In spite of its success, one of the limitations of this approach is reduced adaptability. The final leg mechanism usually performs optimally for a small range of conditions such as the desired speed, payload, and terrain. For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a tunable stiffness leg for effective gait control.

ISBN: 9781124531700Subjects--Topical Terms:

783786
Engineering, Mechanical.

Passive variable compliance for dynamic legged robots.
LDR:02089nam 2200289 4500 001 1402417
005 20111028103954.5
008 130515s2010 ||||||||||||||||| ||eng d
020 $a 9781124531700
035 $a (UMI)AAI3447626
035 $a AAI3447626
040 $a UMI $c UMI
100 1 $a Galloway, Kevin C. $3 1681605
245 1 0 $a Passive variable compliance for dynamic legged robots.
300 $a 157 p.
500 $a Source: Dissertation Abstracts International, Volume: 72-05, Section: B, page: .
500 $a Adviser: Mark Yim.
502 $a Thesis (Ph.D.)--University of Pennsylvania, 2010.
520 $a Recent developments in legged robotics have found that constant stiffness passive compliant legs are an effective mechanism for enabling dynamic locomotion. In spite of its success, one of the limitations of this approach is reduced adaptability. The final leg mechanism usually performs optimally for a small range of conditions such as the desired speed, payload, and terrain. For many situations in which a small locomotion system experiences a change in any of these conditions, it is desirable to have a tunable stiffness leg for effective gait control.
520 $a To date, the mechanical complexities of designing usefully robust tunable passive compliance into legs has precluded their implementation on practical running robots. In this thesis we present an overview of tunable stiffness legs, and introduce a simple leg model that captures the spatial compliance of our tunable leg. We present experimental evidence supporting the advantages of tunable stiffness legs, and implement what we believe is the first autonomous dynamic legged robot capable of automatic leg stiffness adjustment. Finally we discuss design objectives, material considerations, and manufacturing methods that lead to robust passive compliant legs.
590 $a School code: 0175.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0548
690 $a 0771
710 2 $a University of Pennsylvania. $3 1017401
773 0 $t Dissertation Abstracts International $g 72-05B.
790 1 0 $a Yim, Mark, $e advisor
790 $a 0175
791 $a Ph.D.
792 $a 2010
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3447626