Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 46 for “"Impedance Control"”.
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Nonlinear force feedback impedance control
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1986.
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Cooperative impedance control with time-varying stiffness
… of much automation research has been to design controllers and robots that safely interact with the environment. One approach is to use impedance control to specify a relationship between a robot's motion and force and control a grasped object's apparent stiffness, damping, and inertia. …
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A compositional approach to robotic impedance control
… multiple actuators. In this work, compositional impedance control, or linearly superimposing impedance controllers on a robot, is presented as a step towards closing this performance gap. First, an overview of compositional impedance control is provided, along with a discussion of the control …
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Finger joint impedance control applications to investigate spasticity
… human body, a better understanding of how joint impedance control operates in healthy individuals is necessary. In this investigation, a second order rotary torque model was implemented to investigate the impedances at the metacarpophalangeal (MCP) joint of the index finger. The model was fit to …
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Hybrid Active Power Filter with Output Impedance Control
… at high frequencies by increasing the output impedance beyond a desired level. This dilemma has been recognized and several topologies have been proposed to overcome this problem. One category is improved passive devices, with the latest involving array capacitors to achieve near-zero ESL. As …
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Mechanical impedance control of robotic manipulators in Cartesian coordinates
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1983.
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A robust design method for impedance control of constrained dynamic systems
Thesis (Sc.D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1985.
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Active damping of a Bernoulli-Euler beam via end point impedance control using distributed parameter techniques
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1987.
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Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot
This thesis presents a hierarchical control algorithm for quadrupedal locomotion. We address three challenges in developing a controller for high-speed running: locomotion stability, control of ground reaction force, and coordination of four limbs. To tackle these challenges, the proposed algorithm …
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Active compliance control strategies for multifingered robot hand
… shapes, sizes and stiffness. The inability to control the grasping force and finger stiffness can lead to unsafe grasping environment. Although many researches have been conducted to resolve the grasping issues, particularly for the object with different shape, size and stiffness, the grasping …
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Actuation and control for robotic physiotherapy
… through the implementation of force and position control strategies. Traditional pneumatic servo systems consist of a pneumatic cylinder prone to stiction effects and a single spool valve. Here the performance of modem pneumatic servo system, consisting of a low friction pneumatic cylinder and two …
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Force-controllable ankle foot orthosis (AFO) to assist drop foot gait
… Foot Orthosis (AAFO) is presented where the impedance of the orthotic joint is modulated throughout the walking cycle to treat drop foot gait. To prevent foot slap, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot …
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Force Feedback for Reliable Robotic Door Opening
… Many robotic manipulators use open-loop position control to open doors, which reduces reusability and reliability in the face of slight differences or sensor errors. Many others use force feedback or impedance control but skip past the problem of grabbing the handle, which could lead to failures …
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Inertia compensation of a planar robot for human upper limb interaction
… documents the development of software and a control system for the InMotion2 planar robot. Software was developed to provide sensor input processing from the robot encoders and force/torque transducer, and output processing for the robot motors. A controller scheme was developed to compensate …
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Low cost, high performance actuators for dynamic robots
The recent growth of the remote control airplane and drone market has created great availability of extremely cheap, yet very power and torque dense electric motors. However, these motors have for the most part been neglected by the robotics community. This thesis documents the development of a …
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Mechanical design of a quadruped robot
… platform capable of force, position, or impedance control of each limb. The mechanical system consists of an aluminum torso frame and 3D printed legs. The design of the legs is based on kinematic calculations which determined the lengths of the linkages, force generating capability and …
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A robot for wrist rehabilitation
… the neuro-rehabilitation of motor skills. Using impedance control methods to drive a 2 d.o.f. planar robot, Manus I proved an excellent fit for the rehabilitation of the upper arm and shoulder. This was especially true in the case of rehabilitation after stroke. Several clinical trials showed …
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Design and control of Supernumerary Robotic Limbs for near-ground work
… full-scale prototypes are then introduced, and control laws used in supporting a wearer's body both statically using impedance control, and dynamically using predictive models of natural crawling gaits, are developed. Finally, the system is experimentally validated, and it is concluded that SRLs …
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Development and testing of an impedance controller on an anthropomorphic robot for extreme environment operations
This thesis explores the use of impedance control on an anthropomorphic robot for operations in extreme, poorly mapped environments. First, a dynamic model was developed for a Baxter Research Robot. This model improved on standard dynamic models for similar robots by including the dynamics of the …
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