Legged walking on inclined surfaces

Abstract

In this thesis, I need to express my gratitude to my advisor, Prof. Alireza Ramezani, for his persistent guidance throughout my entire master's journey. I would like to extend my appreciation to my thesis committee member Prof. Leeser and Prof. Shafai for their detailed suggestions on the thesis and attending my defense. And I need to thank Mingxi Jia for his support over the years. His enthusiasm for research and optimism about life have continued motivating me. I would also like to thank all of my lab mates, including Kaushik, Shreyansh, Adarsh, Shoghair, Bibek, Xuejian, Yizhe, and Xintao, for their help with hardware, experiments, control design, simulation, and consistent encouragement.

Towards dynamic narrow path walking on NU's Husky

“…Data collected by the Pixhawk is stored in a microSD card. The voltage drop of the batteries during the thruster-assisted trotting during a test performed in conjunction in research from [57] experiment is plotted in Fig. 6.2 and the corresponding orientation is shown in Fig.…”

“…Figure 6.3: Depicts the orientation of the robot during thruster assisted trotting collected during atest performed in conjunction from[57] …”