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 9 of 9 for “"trajectory optimisation"”.
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Trajectory Optimisation Inspired Design for Legged Robotics
… extremely complex task, this thesis argues that trajectory optimisation methods can be employed to make various aspects of design more tractable. First trajectory optimisation methods were employed to determine how legged robots should accelerate. In nature animals are seen to leap straight into …
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Control of Rapid Acceleration in a Planar Legged Robot
… motions are generated using offline nonlinear trajectory optimisation. The optimal jumping motion was executed on the physical robot while the somersault is currently still limited to simulation. Due to the unique design and actuator combination, contact implicit trajectory optimisation served …
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Optimal Control of the Cheetah During Rapid Manoeuvres
… of research for roboticists and biologists. Trajectory optimisation is a tool often used to increase our understanding of cheetahs, but current approaches which handle the full complexity of poorly understood manoeuvres are slow. The lack of data means that there are no simulated models of …
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WildPose: Long-Range 3D Motion Tracking of Cheetahs in the Wild Using Multi-Sensor Fusion
… design makes use of previously successful trajectory optimisation techniques to yield accurate pose data in adverse conditions that would otherwise be extremely difficult to obtain. The method is extendable to other species with minimal variations. We demonstrate the method's efficacy …
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Polynomial motion planning in spacecraft attitude and docking to tumbling debris
Motion or trajectory planning is a key aspect of the advances in the performance and autonomy of spacecraft operations. However, the computational resources of spacecraft are still limited. In this sense, using polynomials to shape trajectories, and computing accelerations and other parameters via …
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Design of a bipedal robot for rapid acceleration and braking manoeuvres
… a lack of relevant research was challenging. Trajectory optimisation methods were used to generate unique acceleration motions for bipedal models, aiding in the selection of several physical parameters. With this, a detailed design of Baleka was created, prioritising desirable characteristic …
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A Low-cost autonomous tracking camera system for 3d marker-less motion capture of animals in the wild
… was used to extract 2D key-points, and then a trajectory optimisation-based 3D pose estimation method called Full Trajectory Estimation (FTE) was used to reconstruct the 3D trajectories of the subject. Quantitative and qualitative experimental results are provided to validate the systems …
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Predictive Simulation of Musculoskeletal Models Using Direct Collocation
Applications of biomechanical predictive simulation are wide ranging, with the technique used to provide insights into movement disorders, sports performance, and injury prevention. However, current software provision has limitations. Users are restricted from leveraging state-of-the-art methods …