Kenneth J. Waldron

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The problem of force distribution in systems involving multiple frictional contacts between actively coordinated mechanisms and passive objects is examined. The special case in which the contact interaction can he modeled by three components of forces (zero moments) is particularly interesting. The Moore-Penrose Generalized Inverse solution for such a model(More)
In this paper, the dynamics of quadruped trot, gallop, and bound will be examined using a simple model for the quadruped. The body of the quadruped is modeled as a uniform bar and the legs are modeled by massless springs. It will be shown that symmetry can be used to study the locomotion of this system. Using symmetry, a technique will be developed to(More)
iii I certify that I have read this dissertation and that in my opinion it is fully adequate, in scope and quality, as a dissertation for the degree of Doctor of Philosophy. I certify that I have read this dissertation and that in my opinion it is fully adequate, in scope and quality, as a dissertation for the degree of Doctor of Philosophy. I certify that(More)
In this paper we present the system design of a machine that we have constructed to study a quadrupedal gallop gait. The gallop gait is the preferred high-speed gait of most cursorial quadrupeds. To gallop, an animal must generate ballistic trajectories with characteristic strong impacts, coordinate leg movements with asymmetric footfall phasing, and(More)