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    Design of Compliance Assisted Gaits for a Quadrupedal Amphibious Robot

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    Date
    2013
    Author
    Vogel, Andrew Richard
    Advisor
    Gupta, Satyandra K.
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    Abstract
    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 robot's legs to achieve swimming. Various types and configurations of compliant legs were evaluated using physical experiments and simulation. Three primary, two secondary, and two transition gaits were developed. An algorithm was developed to determine the appropriate course of action based on the current gait performance and the desired performance. The robot developed in this thesis met the goals of the design and demonstrated the technical feasibility of using compliance in amphibious legged robots.
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    http://hdl.handle.net/1903/14741
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    • Mechanical Engineering Theses and Dissertations
    • UMD Theses and Dissertations

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