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 19 of 19 for “"Under- actuated"”.
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Fuzzy control for an under-actuated robotic manipulator : Pendubot
Control of under-actuated mechanical systems (robots) represents an important class of control problem. This thesis studies several related control problems associated with an under-actuated robot, Pendubot, from the point view of fuzzy logic control. To swing up the Pendubot from a rest position …
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Towards a Stable Three-Legged Under-Actuated Robotic Platform
The work seeks toward further developing a novel robotic platform capable of stable three legged locomotion. This will be accomplished by creating a robust and adaptable robotic platform capable of executing different walking strategies and taking multiple continuous steps. Previous iterations of …
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Balancing and hopping motion control algorithms for an under-actuated robot
… based control algorithm for balancing an under-actuated planar robot. The proposed controller is able to stabilize the robot at any unstable balanced configuration and to control the robot to follow motion trajectory commands. This controller is also capable of balancing the robot on a …
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Balancing and hopping motion control algorithms for an under-actuated robot
… based control algorithm for balancing an under-actuated planar robot. The proposed controller is able to stabilize the robot at any unstable balanced configuration and to control the robot to follow motion trajectory commands. This controller is also capable of balancing the robot on a …
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Biomimetic design for an under-actuated leg exoskeleton for load-carrying augmentation
… 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 kinematics and kinetics of human walking. The joint …
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The Winch-Bot : a cable-suspended, under-actuated robot utilizing parametric self-excitation
… is presented in this thesis. The Winch-Bot is an underactuated robot having only one controllable axis. Although hanging a load with merely one cable, it is capable of moving it in a large workspace by swinging the load dynamically based on parametric self-excitation. The generated trajectories …
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Design and Control of Two Under-Actuated Upper Body Exoskeletons for Augmenting Human Capabilities in Lifting
… activity that is being performed. This calls for under-actuated systems, which help in avoiding unnecessary mass due to additional actuators, while providing the same movement capabilities. This thesis describes in detail about two such under-actuated upper body exoskeletons which can be used for …
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A model of muscle-tendon function in human walking
… evaluation of this hypothesis, I develop an under-actuated model of the human leg in walking where each muscle-tendon unit spanning the knee joint is represented as a simple linear spring in series with a clutch. I vary model parameters, or spring constants and clutch engagement times, using …
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Optimal adaptive control with ΘLQG
… This approach can be used to stabilize an under-actuated under-observed nonlinear dynamic system with noisy measurements while simultaneously identifying system parameters. It requires a parameterized dynamic model with operation about equilibrium points. Its general construction can also …
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Robust planning for autonomous parafoil
… able to accurately guide the highly non-linear, under-actuated parafoil system from the drop zone to the pre-determined impact point. Parafoil planning systems are required to navigate highly complex terrain scenarios, particularly in the presence of an uncertain and potentially highly dynamic …
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Design and optimization of a three-fingered robot hand
… fingers and a thumb. Using the concept of “an under actuated system”, each finger consists of three revolute joints which are driven by two actuators and tooth belt transmission system. The thumb has two joints but only one joint is active and actuated by one motor. The passive joint is …
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Structural performance evaluation and optimization through cyber-physical systems using substructure real-time hybrid simulation
… enables the prediction of structural responses under those dynamic loads but also provide a reliable way to investigate new solutions for hazard mitigation. Common experimental techniques in structural engineering include quasi-static testing, shake table testing, and hybrid simulation. In …
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Parametric Optimal Design Of Uncertain Dynamical Systems
… problems are addressed: motion planning of fully-actuated and under-actuated systems; multi-objective robust design optimization; and optimal uncertainty apportionment concurrently with robust design optimization. The framework advances the state-of-the-art and enables engineers to produce more …
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Sea-state interaction based dynamic model of the Liquid Robotics' Wave Glider: Modelling and control of a hybrid multi-body vessel
… Existing models of these hybrid sea-surface and underwater craft have not considered if the platform’s interaction with the immediate surrounding sea could be incorporated to allow for more accurate navigation and path planning. To this end a detailed three-dimensional model of one such vessel, …
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Homeostatic-inspired controller algorithm for a hybrid-driven autonomous underwater glider
The autonomous hybrid-driven underwater glider presented in this thesis combines the concept of a buoyancy-driven underwater glider and a conventional autonomous underwater vehicle. It is classified as a new kind of autonomous underwater glider. The existing buoyancy-driven gliders have proven to …
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Adaptive Control and Estimation of the Center of Mass of a 5-degree-of-freedom Spacecraft Testbed
… differ from space ones, where satellites operate under extremely low gravity and friction conditions. A common way to simulate these conditions is with air-bearing-based testbeds. These testbeds reduce friction significantly to almost space-like conditions. Air-bearing technology can provide …
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Optimization-Based Guidance for Satellite Relative Motion
… spherical Earth and analytically solve the under-actuated, minimum-energy, optimal transfer using techniques from optimal control and linear operator theory. The resulting open-loop control law is guaranteed to be a global optimum. Then, recognizing that very few, if any, orbits are truly …
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Optimal nonlinear control and estimation using global domain linearization
… control and estimation problems involving under-actuated under-measured nonlinear systems with generalized nonlinear reward can be solved with closed-form infinite horizon linear-quadratic control and estimation. The controllable, uncontrollable, stabilizable, observable, unobservable, and …
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Novel Methods for Recording and Analysing High-Density EMG Signals of the Hand & Forearm
… collected data, which can provide an improved understanding of the spatial distribution and electrophysiological principles of myoelectric activity. These new insights into the mechanisms of voluntary muscle contraction can also be used to improve myoelectric human-machine interfaces, which …