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Control of Rapid Acceleration in a Planar Legged Robot
This thesis details the hardware and control design of Kemba: a planar legged robot intended for investigating bounding and explosive, agile manoeuvres. The robot incorporates both pneumatically actuated knees for powerful, compliant, and impact resistant actuation, and proprioceptive electric actua...
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| Format: | Thesis |
| Language: | English English |
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Department of Electrical Engineering
2024
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