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

Steering Natural Dynamics to Yield E...

Sovero, Sebastian E.

Linked to FindBook

Google Book

Amazon

博客來

Steering Natural Dynamics to Yield Energy Efficient, Stable, and Agile Legged Locomotion.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Steering Natural Dynamics to Yield Energy Efficient, Stable, and Agile Legged Locomotion./
Author:	Sovero, Sebastian E.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2016,
Description:	121 p.
Notes:	Source: Dissertation Abstracts International, Volume: 78-04(E), Section: B.
Contained By:	Dissertation Abstracts International78-04B(E).
Subject:	Mechanical engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10190162
ISBN:	9781369339628

Steering Natural Dynamics to Yield Energy Efficient, Stable, and Agile Legged Locomotion.
Sovero, Sebastian E.

Steering Natural Dynamics to Yield Energy Efficient, Stable, and Agile Legged Locomotion. - Ann Arbor : ProQuest Dissertations & Theses, 2016 - 121 p.

Source: Dissertation Abstracts International, Volume: 78-04(E), Section: B.

Thesis (Ph.D.)--University of California, Santa Barbara, 2016.

This item is not available from ProQuest Dissertations & Theses.

We investigate how natural dynamics can yield stable, agile, and energy efficient robotic systems. Firstly, we cover a design with a single passive rolling element to stabilize frontal plane dynamics for a 3D biped walking across a range of forward velocities and/or step lengths. We examine aspects of the non-linear dynamics that contribute to the energy efficiency and stability of the system through simulations. Secondly, we examine switching controllers that allow for agile foothold selection in 5-link walkers. We leverage dynamic programming and discretization of the reachable space to walk across intermittent footholds. We utilize our meshing techniques to quantify stability and agility of these switching controllers. Finally, we provide experimental data on the effect of extra mass and power on humans at a variety of locations and forward velocities. This allows robot and exoskeleton designers to optimize for energy performance by understanding mass placements and power densities required for high performing legged locomotion. Finally, we present experimental data for an exoskeleton capable of assisting across running and walking speeds.

ISBN: 9781369339628Subjects--Topical Terms:

649730
Mechanical engineering.

Steering Natural Dynamics to Yield Energy Efficient, Stable, and Agile Legged Locomotion.
LDR:02196nmm a2200313 4500 001 2126408
005 20171121080731.5
008 180830s2016 ||||||||||||||||| ||eng d
020 $a 9781369339628
035 $a (MiAaPQ)AAI10190162
035 $a AAI10190162
040 $a MiAaPQ $c MiAaPQ
100 1 $a Sovero, Sebastian E. $3 3288508
245 1 0 $a Steering Natural Dynamics to Yield Energy Efficient, Stable, and Agile Legged Locomotion.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2016
300 $a 121 p.
500 $a Source: Dissertation Abstracts International, Volume: 78-04(E), Section: B.
500 $a Adviser: Katie Byl.
502 $a Thesis (Ph.D.)--University of California, Santa Barbara, 2016.
506 $a This item is not available from ProQuest Dissertations & Theses.
520 $a We investigate how natural dynamics can yield stable, agile, and energy efficient robotic systems. Firstly, we cover a design with a single passive rolling element to stabilize frontal plane dynamics for a 3D biped walking across a range of forward velocities and/or step lengths. We examine aspects of the non-linear dynamics that contribute to the energy efficiency and stability of the system through simulations. Secondly, we examine switching controllers that allow for agile foothold selection in 5-link walkers. We leverage dynamic programming and discretization of the reachable space to walk across intermittent footholds. We utilize our meshing techniques to quantify stability and agility of these switching controllers. Finally, we provide experimental data on the effect of extra mass and power on humans at a variety of locations and forward velocities. This allows robot and exoskeleton designers to optimize for energy performance by understanding mass placements and power densities required for high performing legged locomotion. Finally, we present experimental data for an exoskeleton capable of assisting across running and walking speeds.
590 $a School code: 0035.
650 4 $a Mechanical engineering. $3 649730
650 4 $a Robotics. $3 519753
650 4 $a Biomechanics. $3 548685
690 $a 0548
690 $a 0771
690 $a 0648
710 2 $a University of California, Santa Barbara. $b Mechanical Engineering. $3 1018391
773 0 $t Dissertation Abstracts International $g 78-04B(E).
790 $a 0035
791 $a Ph.D.
792 $a 2016
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=10190162