Design of Compliance Assisted Gaits for a Quadrupedal Amphibious Robot

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dc.contributor.advisorGupta, Satyandra K.en_US
dc.contributor.authorVogel, Andrew Richarden_US
dc.contributor.departmentMechanical Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2013-12-10T06:30:29Z
dc.date.available2013-12-10T06:30:29Z
dc.date.issued2013en_US
dc.description.abstractThe 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.en_US
dc.identifier.urihttp://hdl.handle.net/1903/14741
dc.language.isoenen_US
dc.subject.pqcontrolledRoboticsen_US
dc.subject.pqcontrolledMechanical engineeringen_US
dc.subject.pqcontrolledMechanicsen_US
dc.subject.pquncontrolledAmphibiousen_US
dc.subject.pquncontrolledBioinsipreden_US
dc.subject.pquncontrolledQuadrupedalen_US
dc.subject.pquncontrolledRoboten_US
dc.titleDesign of Compliance Assisted Gaits for a Quadrupedal Amphibious Roboten_US
dc.typeThesisen_US

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