Simulating Complex Multi-Degree-Of-Freedom Systems and Muscle-Like Actuators

Modeling of biological organisms and developing robotic systems based on these models are complicated and computationally intensive tasks. In order to reduce the amount of time needed to develop such models, computational tools are required which intelligently determine parameters of the physical system. Towards this goal several biological muscle models are presented and analyzed for use in biologically inspired robotic development. Initial attempts at implementing such muscle models revealed the need for automated tools to tune the muscle parameters. As such, a sensitivity analysis suite and evolutionary algorithm system have been developed to reduce the amount of designer time needed to tune model parameters. Additionally, the use of SimMechanics as a modeling platform has been explored and contact models have been optimized to minimize computational cost.

Name thesis:degree_name

Master of Sciences (Engineering)

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

EMC - Mechanical Engineering

Grantor dc:publisher

Case Western Reserve University School of Graduate Studies

Year dc:date

2013

Author dc:creator

• Webster, Victoria Ann

Contributors dc:contributor

• Quinn, Roger

• Engineering
• biologically inspired
• muscle-like actuators
• robotics
• evolutionary algorithm
• SimMechanics
• AnimatLab

Statement dc:rights

• unrestricted
• This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.

Language dc:language

English

Repository record dc:identifier

http://rave.ohiolink.edu/etdc/view?acc_num=case1354289624

OAI identifier oai:identifier

oai:etd.ohiolink.edu:case1354289624