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Filtering by: Creator Herlocker, Jonathan L. Remove constraint Creator: Herlocker, Jonathan L. Academic Affiliation Mechanical, Industrial, and Manufacturing Engineering Remove constraint Academic Affiliation: Mechanical, Industrial, and Manufacturing Engineering Committee Member Tumer, Kagan Remove constraint Committee Member: Tumer, Kagan

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  • Control of spring-mass running robots

    Creator:
    Vejdani Noghreiyan, Hamid Reza
    Abstract:
    We seek the control strategies that are applicable on legged robots and control them to run in real world as robust and efficient as animals. To achieve this goal, we need to understand the principles of legged locomotion and the control policies that animals use during running. In this study...
    Resource Type:
    Masters Thesis
    Full Text:
    approved: Jonathan W. Hurst We seek the control strategies that are applicable on legged robots and

  • Optimal control of an underactuated bipedal robot

    Creator:
    Jones, Mikhail S.
    Abstract:
    Bipedal robots represent a unique class of control problems that combine many of the most difficult elements of nonlinear control. These robots are typically designed to be mobile and as such have limited energy and actuator authority making efficiency a prime concern. Unlike wheeled robots, legged robots must transition between...
    Resource Type:
    Masters Thesis
    Full Text:
    : Jonathan W. Hurst Bipedal robots represent a unique class of control problems that combine many of the

  • Passive dynamics and their influence on performance of physical interaction tasks

    Creator:
    Kemper, Kevin C., II
    Abstract:
    For robotic manipulation tasks in uncertain environments, research typically revolves around developing the best possible software control strategy. However, the passive dynamics of the mechanical system, including inertia, stiffness, damping and torque limits, often impose performance limitations that cannot be overcome with software control. Discussions about the passive dynamics are...
    Resource Type:
    Masters Thesis
    Full Text:
    Dynamics and Their Influence on Performance of Physical Interaction Tasks Abstract approved: Jonathan W

  • Dynamics and stability of lateral plane locomotion on variable inclines

    Creator:
    Bonnono, Scott A.
    Abstract:
    An actuated, bipedal model is developed to investigate lateral plane locomotion dynamics and stability on inclines. Both the point mass case and rigid body case are considered. Variations in the force-free leg length are determined via inverse dynamics to explicitly and implicitly match prescribed lateral and fore-aft force profiles, respectively....
    Resource Type:
    Masters Thesis
    Full Text:
    linear spring with an actuated force-free length l (t), from the kinetic and potential energy as L = m

  • Reduced order multi-legged mathematical model of cockroach locomotion on inclines

    Creator:
    Peterson, Delvin E.
    Abstract:
    While the locomotion performance of legged robots over flat terrain or known obstacles has improved over the past few decades, they have yet to equal the performance of their animal counterparts over variable terrain. This work analyzes a multi-legged reduced order model of cockroach locomotion on variable slopes which will...
    Resource Type:
    Dissertation
    Full Text:
    would have indicated a pulling force. 11 Simulated LSP Legs Fr on t L ef t L eg t des 2t des

  • Making the Unconscious Unconscious : Reclaiming Microinteractions for People with Motor Disabilities

    Creator:
    Lazewatsky, Daniel A.
    Abstract:
    Numerous diseases and injuries can limit a person's ability to perform everyday tasks -- things like getting dressed, bathing, and eating. Anything that requires physical activity can be affected; even simple things like turning on the lights can become difficult or impossible. Until recently, the only way for a person...
    Resource Type:
    Dissertation
    Full Text:
    of controls) page clutter � R � R k − Ri Ti = l jcp + ρcc (time to access control i) (5.1) ρ

  • Achieving Transparency in Human-Collective Systems

    Creator:
    Roundtree, Karina A.
    Abstract:
    Collective robotic systems are biologically-inspired and exhibit behaviors found in spatial swarms (e.g., fish), colonies (e.g., ants), or a combination of both (e.g., bees). Collective robotic system popularity continues to increase due to their apparent global intelligence and emergent behaviors. Many applications can benefit from the incorporation of collectives, including...
    Resource Type:
    Dissertation

  • High-Dimensional Reinforcement Learning with Human Feedback

    Creator:
    Curran, William
    Abstract:
    State-of-the-art personal robots need to perform complex manipulation tasks to be viable in complex scenarios. However, many of these robots, like the PR2, use manipulators with high degrees of freedom. High degrees of freedom are desirable from a functionality standpoint, but make the learning task more difficult by adding a...
    Resource Type:
    Dissertation