An actuated flexible spinal mechanism for a bounding quadrupedal robot

Simple item page
buir.advisorSaranlı, Uluç
dc.contributor.authorÇulha, Utku
dc.date.accessioned2016-01-08T18:19:10Z
dc.date.available2016-01-08T18:19:10Z
dc.date.issued2012
dc.departmentDepartment of Computer Engineeringen_US
dc.descriptionAnkara : The Department of Computer Engineering and the Graduate School of Engineering and Science of Bilkent Univ., 2012.en_US
dc.descriptionThesis (Master's) -- Bilkent University, 2012.en_US
dc.descriptionIncludes bibliographical references leaves 89-92.en_US
dc.description.abstractEvolution and experience based learning have given animals body structures and motion capabilities to survive in the nature by achieving many complicated tasks. Among these animals, legged vertebrates use their musculoskeletal bodies up to the limits to achieve actions involving high speeds and agile maneuvers. Moreover the flexible spine plays a very important role in providing auxiliary power and dexterity for such dynamic behaviors. Robotics research tries to imitate such dynamic abilities on mechanical platforms. However, most existing robots performing these dynamic motions does not include such a flexible spine architecture. In this thesis we investigate how quadrupedal bounding can be achieved with the help of an actuated flexible spine. Depending upon biological correspondences we first present a novel quadruped robot model with an actuated spine and relate it with our proposed new bounding gait controller model. By optimizing our model and a standard stiff backed model via repetitive parametric methods, we investigate the role of spinal actuation on the performance enhancements of the flexible model. By achieving higher ground speeds and hopping heights we discuss the relations between flexible body structure and stride properties of a dynamic bounding gait. Furthermore, we present an analytical model of the proposed robot structure along with the spinal architecture and analyze the dynamics and active forces on the overall system. By gathering simulation results we question how such a flexible spine system can be improved to achieve higher performances during dynamic gaits.en_US
dc.description.degreeM.S.en_US
dc.description.statementofresponsibilityÇulha, Utkuen_US
dc.format.extentxiv, 94 leaves, graphicsen_US
dc.identifier.itemidB131810
dc.identifier.urihttp://hdl.handle.net/11693/15480
dc.language.isoEnglishen_US
dc.publisherBilkent Universityen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectBio-inspired Roboticsen_US
dc.subjectLegged Robotsen_US
dc.subjectDynamic Locomotionen_US
dc.subjectQuadrupedal Boundingen_US
dc.subjectSpinal Actuationen_US
dc.subjectGait Optimizationen_US
dc.subject.lccTJ211.35 .C84 2012en_US
dc.subject.lcshRobots--Control systems.en_US
dc.subject.lcshRobots--Programming.en_US
dc.subject.lcshLegged robots.en_US
dc.subject.lcshRobots--Motion.en_US
dc.subject.lcshMechanical movements.en_US
dc.subject.lcshRobotics.en_US
dc.subject.lcshLocomotion.en_US
dc.titleAn actuated flexible spinal mechanism for a bounding quadrupedal roboten_US
dc.typeThesisen_US

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
0006217.pdf
Size:
2.44 MB
Format:
Adobe Portable Document Format
Description:
Full printable version
Download

Collections

Dept. of Computer Engineering - Master's degree