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Dissertation/Thesis Abstract

Design and Control of Compliant Lower Legs for Insectoid Robots
by Qudsi, Yasmeen, M.S., University of Louisiana at Lafayette, 2016, 97; 10163346
Abstract (Summary)

Compliance in legged robotics has recently become favored over rigid leg members. The energy cost associated with rigid legged walking is high, and speeds are typically decreased with terrain changes. The use of compliant legs can provide stable walking while enabling higher maximum speeds.

Inspired by biological principals in insectoid locomotion, a physical model for energy efficient limb design was explored. A compliant leg structure was designed and replaced the rigid leg members of an insectoid robot. Velocity and ground reaction force data was gathered for both rigid and compliant lower leg members at various stiffness values for ideal and complex terrain.

Furthermore, a command was designed to maximize walking speeds. Design parameters of stiffness, command duration, and command spacing are selected. The designed command, combining the optimal value of the design parameters, produced an increased stance departure velocity value and can be implemented in insectoid robots with compliant legs.

Indexing (document details)
Advisor: Vaughan, Joshua E.
Commitee: Felgenhauer, Bruce E., Taylor, Charles E.
School: University of Louisiana at Lafayette
Department: Mechanical Engineering
School Location: United States -- Louisiana
Source: MAI 56/02M(E), Masters Abstracts International
Subjects: Mechanical engineering, Robotics
Keywords: Biomimicry, Command generation, Compliance, Input shaping, Insectoid robot
Publication Number: 10163346
ISBN: 978-1-369-18038-1
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