Thesiss

Rubble-strewn corridors, stairs and steep natural terrain all present a challenge for wheels and tracks. Legs are a solution in these cases because foot placement allows the traversal of discontinuous terrain. Legged robots, however, currently lack the performance needed for pra…

The objective of this study was to develop a new Steer Tilt Control (STC) algorithm inspired by real driver behaviour and to test it in simulation with an experimentally validated non-linear vehicle model.In order to develop an exhaustive simulation model of the vehicle and to p…

For the sensorimotor system to complete motor tasks it controls the body, it controls objects that the sensorimotor system acts upon within the environment, and it anticipates future states of the environment. The sensorimotor system is known to adapt and improve in performance …