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.
Results
Showing 1 to 20 of 24 for “"Robot Dynamics"”.
-
Parameter estimation of manipulator robot dynamics
… methods of dynamic parameter estimation because robots are becoming more complex and their interactions with the unmodeled world are becoming more frequent. These methods should be fast, reliable, and easily adaptable to various classes of robots. Here, we design and build a parameter estimation …
-
Battery Pack Design and Transient Performance Modeling for High-Power Legged Robots
Legged robotics has recently shifted toward advanced optimization-based control methods, such as Model Predictive Control (MPC), to generate agile and energy-efficient locomotion. By casting the control problem as an optimization task, robotic systems can account for complex robot dynamics and …
-
A Koopman-Based Reduced-Order State Observer for Visual Localization of Robots
… linearization is developed for localization of a robot guided by a vision system. The Koopman operator is a powerful method for representing nonlinear robot dynamics as a linear model in a lifted space. Koopman faces two main challenges with robot localization. One is that the lifted linear system …
-
Improved Friction and Dynamics Estimation in Legged Robots
Reducing the Sim-to-Real gap between robot simulation and robot performance could lead to improved and more efficient robot design through more accurate controls and design testing in simulation and through more accurate state detection for model-based control architectures. This work built upon …
-
Dynamic sonar perception
… sonar perception is a prerequisite of marine robot feature-based navigation. The robot must be able to track, model, map, and recognize aspects of the underwater landscape without a priori knowledge. This thesis explores the tracking and mapping problems from the standpoint of observability. …
-
Adaptive consensus based formation control of unmanned vehicles
… existing methods on formation control where the dynamics of the vehicles are neglected, this dissertation in the form of four papers presents consensus-based formation control of unmanned vehicles-both ground and aerial, by incorporating the vehicle dynamics.</p><p>First, neural networks …
-
Controle adaptativo robusto para um modelo desacoplado de um robô móvel
… of robust adaptive controller applied to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two distinct parts. The first part controls the robot dynamics, using variable structure model reference adaptive …
-
Adaptive Torque Control of a Novel 3D-Printed Humanoid Leg
… a dynamic environment with humans and obstacles, robots require active compliance control with force feedback. In these applications the control law typically includes full dynamics compensation to decouple the joints and cancel out nonlinearities, for which a high-fidelity model of the robot is …
-
Hybrid Concurrent Planning with Heterogeneous Robot Teams for Timed Goals
Robotic techniques in terms of mechanical design, perception, and planning have been improving at a dramatic rate. However, these advances for single autonomous systems will not be sufficient for many real-world applications, in which robots need to collaboratively complete tasks together given …
-
Towards Robust Planning for High-DoF Robots in Human Environments: The Role of Optimization
Robot motion planning has been a key component in the race to achieve true robot autonomy. It encompasses methods to generate robot motion that meets kinematic constraints, robot dynamics and that is safe (avoids colliding with the environment). It has been particularly successful in efficiently …
-
Control of Rapid Acceleration in a Planar Legged Robot
… and control design of Kemba: a planar legged robot intended for investigating bounding and explosive, agile manoeuvres. The robot incorporates both pneumatically actuated knees for powerful, compliant, and impact resistant actuation, and proprioceptive electric actuators at the shoulder and …
-
Software and Hardware Infrastructure for Visual-Inertial SLAM
… challenges faced by researchers in the field of robot localization and mapping is finding a reliable infrastructure to test their ideas. That infrastructure could be a simulation platform, suitable hardware, or a sensor interface. A useful simulation platform needs to capture the dynamics and the …
-
Robust multi-contact dynamical motion planning using contact wrench set
… this thesis, we seek to plan a robust motion for robot with multiple non-coplanar contact on the environment. When the robot interacts with the environment through contact, it relies on the contact forces to generate the desired acceleration. The contact forces have to satisfy some physical …
-
Asymptotically optimal path planning and surface reconstruction for inspection
… model of a structure, sensor specifications, robot dynamics, and an initial configuration of a robot, RITA computes the optimal inspection trajectory that observes all surface points on the structure. This algorithm uses of control-space sampling techniques to find admissible trajectories with …
-
Position and vibration control of flexible space robots
… vibration control of flexible articulated space robots consisting of a rigid platform, two flexible arms, and a rigid end-effector carrying a payload, all components being serially connected through revolute joints. The mission is to carry a payload over a prescribed trajectory in the inertial …
-
Tethered Magnetic Serial Robots for Minimally Invasive Neurosurgery
… demand for smaller, more manoeuvrable, surgical robot tools to reduce the invasiveness of neurosurgical procedures. A magnetic approach to surgical robots could enable smaller tools, but no viable magnetic robot approach exists. Existing magnetic approaches to surgical tasks involve either …
-
Design and Development of a Novel Reconfigurable Wheeled Robot for Off-Road Applications
… is one of the most challenging tasks for wheeled robots. To achieve mobility over this terrain, a high agility wheeled robot should adapt and react fast to optimally traverse this challenging environment. Therefore, this dissertation is geared towards the design and development of a novel …
-
Design and Control of a Cable-Driven Articulated Modular Snake Robot
… and control of a cable-actuated mobile snake robot. The goal of this research is to reduce the size of snake robots and improve their locomotive efficiency by simultaneously actuating groups of links to fit optimized curvature profiles. The basic functional unit of the snake is a four-link, …
-
Generative multi-robot task and motion planning over long horizons
The state of the art practice in robotics planning is to script behaviors manually, where each behavior is typically precomputed in advance. However, in order for robots to be able to act robustly and adapt to novel situations, they need to be able to plan sequences of behaviors and activities …
-
Kinematic Chain Monoids for Real-Time Kinodynamic Trajectory Optimization in Legged Robots
Dynamics Factor Graph (DFG) is a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynam- ics and contacts. In this thesis I will present DFG and explain the different variables and constraints being used in legged robot …
Page 1 of 2