Design of Compliance Assisted Gaits for a Quadrupedal Amphibious Robot
نویسندگان
چکیده
Title of Document: DESIGN OF COMPLIANCE ASSISTED GAITS FOR A QUADRUPEDAL AMPHIBIOUS ROBOT Andrew Richard Vogel, M.S., 2013 Directed By: Professor Satyandra K. Gupta Department of Mechanical Engineering 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. DESIGN OF COMPLIANCE ASSISTED GAITS FOR A QUADRUPEDAL AMPHIBIOUS ROBOT
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