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Browsing by Author "Patel, Amir"

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A contact-implicit direct trajectory optimization scheme for the study of legged maneuverability

Author: Shield, Stacey Date: 2022 For legged robots to move safely in unpredictable environments, they need to be manoeuvrable, but transient motions such as acceleration, deceleration and turning have been the subject of little research compared to constant-speed gait. They ... Read more
Design of a bipedal robot for rapid acceleration and braking manoeuvres

Author: Blom, Alexander Francois Date: 2019 Animals in nature are capable of performing rapid acceleration and braking manoeuvres with ease. However, they have been avoided by researchers due to the complexities of this motion. To investigate and test novel control schemes for such ... Read more
Kinematic State Estimation using Multiple DGPS/MEMS-IMU Sensors

Author: Ku, Do Yeou Date: 2020 Animals have evolved over billions of years and understanding these complex and intertwined systems have potential to advance the technology in the field of sports science, robotics and more. As such, a gait analysis using Motion Capture ... Read more
Markerless 3D Motion Capture of Cheetahs in the Wild

Author: Clark, Liam James Date: 2021 3D motion-capture is essential for research in biomechanics and biomedical engineering. It can provide insight into performance and injury prevention in sport, diagnosis of illnesses and disorders as well as help biologists to study animals ... Read more
Optimal Control of the Cheetah During Rapid Manoeuvres

Author: Knemeyer, Alexander Date: 2022 Cheetahs are incredibly fast, manoeuvrable and highly dynamic, but relatively little is understood about how this is achieved. Thus, understanding their abilities is a subject of research for roboticists and biologists. Trajectory optimisation ... Read more
Rapid acceleration of legged robots: a pneumatic approach

Author: Van Zyl, Joshua Date: 2021 For robotics to be useful to the public in a multifaceted manner, they need to be both legged and agile. The legged constraint arises as many environments and systems in our world are tailored to ablebodied adults. Therefore, a practically ... Read more
State estimation of a cheetah spine and tail using an inertial sensor network

Author: Fisher, Callen Date: 2015 The cheetah (Acinonyx jubatus) is by far the most manoeuvrable and agile terrestrial animal. Little is known, in terms of biomechanics, about how it achieves these incredible feats of manoeuvrability. The transient motions of the cheetah all ... Read more
Trajectory Optimisation Inspired Design for Legged Robotics

Author: Fisher, Callen Date: 2021 Control of legged robots is a non-trivial task, especially when looking at aperiodic (non-steadystate) manoeuvres such as rapid acceleration and deceleration. Observing nature, animals are seen to effortlessly perform these rapid transient ... Read more
UAV collision avoidance: a specific acceleration matching approach

Author: Patel, Amir Date: 2011 An increased level of autonomy is required for future Unmanned Aerial Vehicle (UAV) missions. One of the technologies required for this to occur is an adequate sense and avoid system to enable the UAV to detect threat aircraft and take evasive ... Read more
Understanding the motions of the cheetah tail using robotics

Author: Patel, Amir Date: 2015 The cheetah is capable of incredible feats of manoeuvrability. But, what is interesting about these manoeuvres is that they involve rapid swinging of the animal's lengthy tail. Despite this, very little is understood about the cheetah tail ... Read more