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Understanding and Improving Locomotion: The Simultaneous Optimization of Motion and Morphology in Legged Robots
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| 자료유형 | 학위논문 |
|---|---|
| 서명/저자사항 | Understanding and Improving Locomotion: The Simultaneous Optimization of Motion and Morphology in Legged Robots. |
| 개인저자 | Yesilevskiy, Yevgeniy. |
| 단체저자명 | University of Michigan. Mechanical Engineering. |
| 발행사항 | [S.l.]: University of Michigan., 2018. |
| 발행사항 | Ann Arbor: ProQuest Dissertations & Theses, 2018. |
| 형태사항 | 145 p. |
| 기본자료 저록 | Dissertation Abstracts International 79-12B(E). Dissertation Abstract International |
| ISBN | 9780438125674 |
| 학위논문주기 | Thesis (Ph.D.)--University of Michigan, 2018. |
| 일반주기 |
Source: Dissertation Abstracts International, Volume: 79-12(E), Section: B.
Adviser: C. David Remy. |
| 요약 | There exist many open design questions in the field of legged robotics. Should leg extension and retraction occur with a knee or a prismatic joint? Will adding a compliant ankle lead to improved energetics compared to a point foot? Should quadru |
| 요약 | I developed and implemented that methodology to explore three primary robotic design questions. In the first, I asked if parallel or series elastic actuation is the more energetically economical choice for a legged robot. Looking at a variety of |
| 요약 | The combination of the above studies readily presents a methodology for simultaneously optimizing for motion and morphology in legged robots. Aside from giving insight into these specific design questions, the technique can also be extended to a |
| 일반주제명 | Mechanical engineering. |
| 언어 | 영어 |
| 바로가기 | 
: 이 자료의 원문은 한국교육학술정보원에서 제공합니다. |
