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 12 of 12 for “"Underactuation"”.
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Bio-inspired robotic control in underactuation: principles for energy efficacy, dynamic compliance interactions and adaptability.
Biological systems achieve energy efficient and adaptive behaviours through extensive autologous and exogenous compliant interactions. Active dynamic compliances are created and enhanced from musculoskeletal system (joint-space) to external environment (task-space) amongst the underactuated …
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Computational Methods to Improve Satellite Attitude Determination and Control with a Focus on Autonomy, Generalizability, and Underactuation
… while meeting pointing goals, even in cases of underactuation or large disturbances. This generalized and autonomous framework is a contribution of this work, alongside each of its components, which can be individually used in their own right. One key component of this work is a generalized …
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Design and Integration of an Underactuated Robotic Finger with Vision-based Tactile Sensing
… two segments to having three segments, with underactuation incorporated to further reduce the number of motors. Each finger segment houses a silicone gel pad, whose tactile imprints are captured by mirrors, which are then observed by a single camera placed at the second finger segment. The …
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Design and Evaluation of an Underactuated Robotic Gripper for Manipulation Associated with Disaster Response
… tasks outlined by the DRC and SAFFiR project. Underactuation was utilized in the design of the gripper to keep its complexity low while acquiring the level of dexterity needed to complete the required tasks. The final gripper contains two actuators, two underactuated fingers and a fixed finger …
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Controlling Contact Transitions for Dynamic Robots
… additional contact modes and increased degree of underactuation. To address these limitations, this thesis proposes algorithmic and systems contributions to gracefully handle contact transitions for dynamic robots. First, we identify that uncertainties from impact events enter the system dynamics …
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Control of underactuated fluid-body systems with real-time particle image velocimetry
… control tasks, including: nonlinearity, underactuation, an important and unknown fluid state and a dearth of accurate and tractable models. The first complete demonstration of closed-loop PIV control is performed on this system, and there is a statistically significant improvement in the …
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Dual-axis tilting quadrotor aircraft: Dynamic modelling and control of dual-axis tilting quadrotor aircraft
… by solving the problem of a quadrotor’s inherent underactuation. The introduction of extra actuation aims to mechanically accommodate for stable tracking of non-zero state trajectories. The requirement of the project is to design, model, simulate and control a novel quadrotor platform which can …
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Guidance and Control of Autonomous Unmanned Aerial Systems for Maritime Operations
… an inner loop, respectively, to account for the underactuation of the quadrotor-biplane. In the outer loop, estimates of the aerodynamic forces and MRAC laws are used to stabilize the translational dynamics. Furthermore, the reference pitch angle is deduced such that the vehicle's total thrust …
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A Permanent Magnetic Dipole Reaction Sphere Actuator for Spacecraft Attitude Control
… is commanded. Thus, despite the rotor’s inherent underactuation, we can rotate the rotor about an arbitrary axis in steady state. Using classic loop shaping techniques, we design a SISO controller for each of the 3 translational DoFs and another SISO controller for each of the 3 rotational DoFs. …
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Adaptive, Anthropomorphic Robot Hands for Grasping and In-Hand Manipulation
This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing dexterous, in-hand manipulation. The robot hand comprises of anthropomorphic robotic fingers, which employ an adaptive actuation mechanism. The mechanism achieves both flexion/extension …
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Trajectory-Tracking Control of the Ball-and-Plate System
<p>The Mechatronics group in the Mechanical Engineering department of Cal Poly is interested in creating a demonstration of a ball-and-plate trajectory tracking controller on hardware. The display piece will serve to inspire engineering students to pursue Mechatronics and control theory as an area …
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Ensemble control of robotic systems
In this dissertation, we apply the framework of ensemble control theory to derive an approximate steering algorithm for two classical robotic systems---the nonholonomic unicycle and the plate-ball manipulator---in the presence of model perturbation that scales all inputs by an unknown but bounded …