Creation and Control of Gaits for the SemiQuad Robot

Hareide, Harald
Master thesis
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http://hdl.handle.net/11250/261266
Date
2014
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Abstract
The first part of the thesis consisted of the creation of a mathematic model of the SemiQuad robot, and the exploration and discovery of suitable walking motions.The second part of the thesis consisted in using the walking motions as a reference for implementing the gaits of the SemiQuad with suitable control action.
Publisher
Institutt for teknisk kybernetikk