Force and motion coordination of legged robots for walking ability improvement

Compared with a wheeled mobile robot, a legged robot is more capable to walk in un-structured natural environment. To fully exert this ability in such a condition is one of the main concerns in the development of legged robots. It is well-known that the interaction between the foot and the ground pl...

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Bibliographic Details
Main Author:	Zhou, Debao.
Other Authors:	Low, Kin Huat
Format:	Theses and Dissertations
Published:	2008
Subjects:	DRNTU::Engineering::Mechanical engineering::Robots
Online Access:	http://hdl.handle.net/10356/5569
Tags:	Add Tag No Tags, Be the first to tag this record!
Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-5569
record_format	dspace
spelling	sg-ntu-dr.10356-55692023-03-11T17:09:57Z Force and motion coordination of legged robots for walking ability improvement Zhou, Debao. Low, Kin Huat School of Mechanical and Production Engineering DRNTU::Engineering::Mechanical engineering::Robots Compared with a wheeled mobile robot, a legged robot is more capable to walk in un-structured natural environment. To fully exert this ability in such a condition is one of the main concerns in the development of legged robots. It is well-known that the interaction between the foot and the ground plays a crucial effect on the walking ability. Considering leg-end forces, three methods are proposed in this thesis to improve the walking ability of a legged robot. Doctor of Philosophy (MPE) 2008-09-17T10:53:57Z 2008-09-17T10:53:57Z 2003 2003 Thesis http://hdl.handle.net/10356/5569 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Mechanical engineering::Robots
spellingShingle	DRNTU::Engineering::Mechanical engineering::Robots Zhou, Debao. Force and motion coordination of legged robots for walking ability improvement
description	Compared with a wheeled mobile robot, a legged robot is more capable to walk in un-structured natural environment. To fully exert this ability in such a condition is one of the main concerns in the development of legged robots. It is well-known that the interaction between the foot and the ground plays a crucial effect on the walking ability. Considering leg-end forces, three methods are proposed in this thesis to improve the walking ability of a legged robot.
author2	Low, Kin Huat
author_facet	Low, Kin Huat Zhou, Debao.
format	Theses and Dissertations
author	Zhou, Debao.
author_sort	Zhou, Debao.
title	Force and motion coordination of legged robots for walking ability improvement
title_short	Force and motion coordination of legged robots for walking ability improvement
title_full	Force and motion coordination of legged robots for walking ability improvement
title_fullStr	Force and motion coordination of legged robots for walking ability improvement
title_full_unstemmed	Force and motion coordination of legged robots for walking ability improvement
title_sort	force and motion coordination of legged robots for walking ability improvement
publishDate	2008
url	http://hdl.handle.net/10356/5569
_version_	1761781265249337344

Force and motion coordination of legged robots for walking ability improvement

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