Proprioceptive Sensing for a Legged Robot

Abstract

memory of my grandmother ii Time flies, doesn’t it? ACKNOWLEDGEMENTS I can still clearly remember how nervous I was the day I arrived in the US to start this journey—an unforgettable experience filled with joys and tears. It is hard to believe that I have passed the tasks and reached the summit. This dissertation, the culmination of my years in graduate education, would not exist but for the support, encouragement, and contributions of many individuals. I would first like to thank my advisor, Daniel Koditschek, for his continued guidance through this process. Over the years I have learned a great deal from him. Most importantly, he taught me how to think and deal with problems, both academic and nonacademic, from a broad perspective. I thank my co-advisor, Richard Brent Gillespie, for his valuable suggestions and ideas. He taught me how to widely utilize my knowledge of mechanical engineering, and to fuse it with new learning from electrical engineering and computer