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 5 of 5 for “"brachiation"”.
-
Design, modelling and control of a brachiating power line inspection robot
… was designed and manufactured to validate the brachiation manoeuvre. The robot was designed following classic mechanical design principles, with emphasis on functional design and robustness. System identification was used to capture the plant uncertainty and a feedback controller was designed …
-
Simulations of a three degree of freedom brachiating Y-bot robot
Brachiation is a means of locomotion for lightweight apes like gibbons. It involves the animal swinging its arms to gain moment and swing forward. A large amount of research has been done studying a simplified two-link two DOF robot, named "acrobot" by Mark Spong. While the problems of this robot …
-
Brachiating power line inspection robot: controller design and implementation
… the end effector to the power line by employing brachiation. The OTG produced two trajectories; one of which was reverse time symmetrical and; another which minimised the perpendicular distance between the end gripper and the power line. Linear interpolation between the two trajectories ensured a …
-
Optimal state estimation for a power line inspection robot
… version of a power line robot was modeled. The brachiation mechanism was approximated to a double pendulum and kinematics based Kalman filter was designed. Simulations of EKF and UKF were made. The EKF is still recommended as its estimates are closer to the true values and its computation time …
-
Ecological Pressures Selecting for Singing Behavior in Primates
This dissertation explores the social, behavioral, and habitat based influences on the evolution of elaborate vocalizations in primates. The goals of this project were to merge and test hypotheses derived from both the primate morphological origins literature and the musical behavior origins …