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Design of Compliance Assisted Gaits for a Quadrupedal Amphibious Robot
The goal of this thesis was to develop an amphibious legged quadrupedal robot and associated gaits. Gaits of interest included walking, swimming, and smoothly transitioning between the two. Compliance was employed in the ...
Development of a Quadruped Robot and Parameterized Stair-Climbing Behavior
Stair-climbing is a difficult task for mobile robots to accomplish, particularly for legged robots. While quadruped robots have previously demonstrated the ability to climb stairs, none have so far been capable of climbing ...
Towards the Use of Dielectric Elastomer Actuators as Locomotive Devices for Millimeter-Scale Robots
Dielectric elastomer actuators (DEAs) are electromechanical transducers that are promising for small scale applications. The work presented in this thesis seeks to develop DEAs as an actuation technology that would serve ...