Lian, Yunlong 
ORCID: https://orcid.org/0000-0003-4230-1402
(2024)
Design, modelling and control of a quadruped robot with a bionic spine.
PhD thesis, University of York.
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Examined Thesis (PDF)
Filename: Yunlong_205002091_thesis_final.pdf
Description: Final version of the examined thesis
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Supplementary Material
Filename: Yunlong_205002091_CPG-based.mp4
Description: Video supplementary material for published paper
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![[thumbnail of Video supplementary material for published paper]](https://etheses.whiterose.ac.uk/style/images/fileicons/video.png "Video supplementary material for published paper")
Supplementary Material
Filename: Yunlong_205002091_pitch_exp25.MOV
Description: Spine configuration I, pitch 25 degrees movement experiment
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Supplementary Material
Filename: Yunlong_205002091_pitch_exp-25.MOV
Description: Spine configuration I, pitch -25 degrees movement experiment
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Supplementary Material
Filename: Yunlong_205002091_roll_exp25.MOV
Description: Spine configuration I, roll 25 degrees movement experiment
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Supplementary Material
Filename: Yunlong_205002091_roll_exp-25.MOV
Description: Spine configuration I, roll -25 degrees movement experiment
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This work is licensed under a Creative Commons Attribution NonCommercial NoDerivatives 4.0 International License
Supplementary Material
Filename: Yunlong_205002091_yaw_exp25.MOV
Description: Spine configuration I, yaw 25 degrees movement experiment
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Supplementary Material
Filename: Yunlong_205002091_yaw_exp-25.MOV
Description: Spine configuration I, yaw -25 degrees movement experiment
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Supplementary Material
Filename: Yunlong_205002091_Spine Configuration II_rpy_20.mp4
Description: Spine configuration II, roll, pitch, yaw 20 degrees movement experiments
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Supplementary Material
Filename: Yunlong_205002091_walk_nospine.mp4
Description: walk gait without spine movement
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This work is licensed under a Creative Commons Attribution NonCommercial NoDerivatives 4.0 International License
Supplementary Material
Filename: Yunlong_205002091_trot_spine.mp4
Description: trot gait with learned spine movement on flat ground
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Supplementary Material
Filename: Yunlong_205002091_bound_nospine.mp4
Description: bound gait without spine movement
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This work is licensed under a Creative Commons Attribution NonCommercial NoDerivatives 4.0 International License
Supplementary Material
Filename: Yunlong_205002091_walk_spine.mp4
Description: walk gait with learned spine movement on flat ground
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Supplementary Material
Filename: Yunlong_205002091_bound_spine.mp4
Description: Bound gait with learned spine movement on flat ground
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Supplementary Material
Filename: Yunlong_205002091_trot_rough_nolearn.mp4
Description: trot gait without learning sensory feedback on rough terrain
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This work is licensed under a Creative Commons Attribution NonCommercial NoDerivatives 4.0 International License
Supplementary Material
Filename: Yunlong_205002091_pace_nospine.mp4
Description: pace gait without spine movement on flat ground
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This work is licensed under a Creative Commons Attribution NonCommercial NoDerivatives 4.0 International License
Supplementary Material
Filename: Yunlong_205002091_trot_nospine.mp4
Description: Trot gait without spine movement on flat ground
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This work is licensed under a Creative Commons Attribution NonCommercial NoDerivatives 4.0 International License
Supplementary Material
Filename: Yunlong_205002091_trot_rough_learn_all.mp4
Description: trot gait with learned all sensory feedback on rough ground
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This work is licensed under a Creative Commons Attribution NonCommercial NoDerivatives 4.0 International License
Supplementary Material
Filename: Yunlong_205002091_pace_spine.mp4
Description: Pace gait with learned spine movement on flat ground
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Supplementary Material
Filename: Yunlong_205002091_trot_rough_learn_amp.mp4
Description: trot gait with learned amplitude sensory feedback on rough ground
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This work is licensed under a Creative Commons Attribution NonCommercial NoDerivatives 4.0 International License
Supplementary Material
Filename: Yunlong_205002091_trot_rough_learn_offset.mp4
Description: trot gait with learned offset sensory feedback on rough ground
Licence:
This work is licensed under a Creative Commons Attribution NonCommercial NoDerivatives 4.0 International License
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