Date of Award
12-2025
Document Type
Thesis
Degree Name
Master of Science (MS)
Department
Mechanical Engineering
Committee Chair/Advisor
Ge Lv
Committee Member
Ian Walker
Committee Member
Umesh Vaidya
Abstract
This thesis work presents the design, testing, and validation of a continuum-legged biped robot equipped with a kangaroo inspired tail for enhanced stability and adaptability. Unlike traditional rigid link robots, this one expands on soft-legged robots and utilizes tendon-driven continuum robots to mimic octopus and kangaroo behavior for locomotion. The robot uses a hierarchical hybrid control framework to implement walking, obstacle avoidance, vaulting, and push recovery behaviors. To test the performance of the robot four sets of experiments were conducted to validate these systems and evaluate how they performed. The results demonstrate stable walking with rhythmic tail load transfer, effective turning, and object avoidance, uneven terrain adaptation, and recovery from outside forces. These findings supply evidence for the potential of continuum leg and tail strategies in achieving improved balance resilience and locomotion versatility in both soft and hard robot systems.
Recommended Citation
Platt, Gavin A., "Locomotion and Balance Control in a Biped Robot with Continuum Legs and a Kangaroo-Inspired Tail" (2025). All Theses. 4666.
https://open.clemson.edu/all_theses/4666
Included in
Computer-Aided Engineering and Design Commons, Electro-Mechanical Systems Commons, Other Mechanical Engineering Commons