Browsing Master's Theses by Author "Öniz, Y."
Now showing items 1-2 of 2
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Design, development, and real-life implementation of a high power quadruped robot
This thesis presents the design, development, and experimental test of a quadruped with high power-to-weight ratio. In this thesis, three design processes are studied, namely, actuator design, leg mechanism design and torso ... -
Robust whole-body control for legged robots
This thesis aims to propose a robust whole-body locomotion controller for legged robots. To this end, it offers the centroidal momentum observer control algorithm, which could be a very useful tool for providing robust ...
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