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 7 of 7 for “"Passive dynamics"”.
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Passive dynamics in the control of gymnastic maneuvers
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1994.
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Design and process/measurement for immersed element control in a reconfigurable vertically falling soap film
… learning has proven successful at harnessing the passive dynamics of underactuated systems to achieve least energy solutions. However, coupled fluid-structural models are too computationally intensive for in-the-loop control in viscous flow regimes. My vertically falling soap film will provide a …
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Biomimetic design for an under-actuated leg exoskeleton for load-carrying augmentation
… on exoskeleton design has not considered the passive dynamics of walking and has focused on fully actuated systems that are inefficient and heavy. In this thesis, an under-actuated exoskeleton is presented that runs parallel to the human leg. The exoskeleton component design is based on the …
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Design of a Novel Tripedal Locomotion Robot and Simulation of a Dynamic Gait for a Single Step
Bipedal robotic locomotion based on passive dynamics is a field that has been extensively researched. By exploiting the natural dynamics of the system, these bipedal robots consume less energy and require minimal control to take a step. Yet the design of most of these bipedal machines is inherently …
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Performance and stability in decentralised network systems with applications to distributed optimisation and power systems
… while simultaneously rendering each subsystem passive. We show that this result can be used for control synthesis in linear systems, which is demonstrated with a DC microgrid example. Furthermore, we extend these results to a broad class of nonlinear, nonsmooth primal–dual algorithms used to …
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Kinematics Analysis of Two Parallel Locomotion Mechanisms
… is expected to walk utilizing its built-in passive dynamics, but in its triple stance phase, the kinematic configuration of the robot behaves like an in-parallel manipulator. The locomotion of this novel walking robot and its unique tripedal gait are discussed, followed by the definitions of …
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Development of an Inertially-Actuated Passive Dynamic Technique to Enable Single-Step Climbing by Wheeled Robots
For their inherent stability and simple dynamics of motion, wheeled robots are very common in robotics applications. Many highly complex robots are being developed in research laboratories, but wheeled robots remain the most used robot in real-world situations. One of the most significant downfalls …