Master of Science (MS), Ohio University, 2008, Electrical Engineering (Engineering and Technology)

The MARK II is a biologically inspired walking robot utilizing modern hardware. The purpose of the project is to create a robotic platform that is capable of mimicking the motion of various biological organisms such as insects, lizards, and other biologics. With a quadruped platform (4 degrees of freedom per leg) detailed experiments can be run regarding motion behavior of biological systems in a controlled environment without the use of biological organisms. Advances in biorobotic walkers will provide insight into biological animal behavior, fluid robotic motion and system wide control design and implementation.

Committee: Maarten Uijt de Haag Dr. (Advisor); Robert Williams II Dr. (Committee Member); Zhu Zhen Dr. (Committee Member); Scott Hooper Dr. (Committee Member) Subjects: Biology; Computer Science; Electrical Engineering; Mechanical Engineering; Robots

Doctor of Philosophy, Case Western Reserve University, 1994, Mechanical Engineering

There are three sections to this document: Application of a stick-insect based controller for the locomotion of a 12 degree-of-freedom (DOF) hexapod robot, the use of a simulation in the design of an 18 DOF hexapod robot and its locomotion controller, and the construction of an 18 DOF robot and a corresponding controller for locomotion on rough terrain. The stick insect controller used on the 12 DOF robot is derived from the mechanisms believed to be responsible for the coordination of the stick insect. The robot walks in a continuum of insect-like gaits in a straight line on a flat surface. A previously developed simulation of an 18 DOF hexapod was modified to include models of the motors and transmissions to be used in the 18 DOF robot. The stick insect controller used on the 12 DOF robot was modified to allow general locomotion on a plane, and this was applied to the control of the simulated hexapod. The user inputs for this controller were forward velocity, lateral velocity, and rate of yaw.

Committee: Roger Quinn (Advisor) Subjects: Engineering, Mechanical