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Filtering by: Creator Deinzer, Max L. Remove constraint Creator: Deinzer, Max L. Academic Affiliation Mechanical, Industrial, and Manufacturing Engineering Remove constraint Academic Affiliation: Mechanical, Industrial, and Manufacturing Engineering Degree Field Robotics Remove constraint Degree Field: Robotics

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  • Geometry of Locomotion

    Creator:
    Ramasamy, Suresh
    Abstract:
    Many animals and robots move through the world by coupling cyclical changes in shape called gaits to an interaction with the environment. Because mobility is an important aspect of such robots, a key metric when evaluating design and performance of mobile robots is the efficiency of their optimal gaits. The...
    Resource Type:
    Dissertation
    Full Text:
    : Geometry of Locomotion Abstract approved: Ross L. Hatton There are four major contributions described in

  • Geometric Motion Planning for Inertial Systems

    Creator:
    Faraji, Hossein
    Abstract:
    In order to enable better visualization and understanding of the effect of the robot's geometry and inertia on the robot's trajectories, this dissertation proposes to use geometric mechanics to bridge the gap between the physical motion of a robot and its mathematical structure. The main focus of this research is...
    Resource Type:
    Dissertation
    Full Text:
    . Title: Geometric Motion Planning for Inertial Systems Abstract approved: Ross L. Hatton The

  • Improving Soft Snake Robot Locomotion Through Targeted Environmental Interactions Using Artificial Snake Skin

    Creator:
    Branyan, Callie A.
    Abstract:
    This dissertation outlines the design and development of the first fully-soft, snake robot and its snake-inspired skin. Soft robotics takes advantage of soft materials to, among other things, improve robot interactions with complex, unstructured environments. Due to the interplay between the soft material and the environment, minor tweaks to the...
    Resource Type:
    Dissertation
    Full Text:
    approved: Yiğit Mengüç Ross L. Hatton This dissertation outlines the design and development of the

  • Mechanical Design for Robot Locomotion

    Creator:
    Abate, Andrew M.
    Abstract:
    Robotic limbs have been shown to enable mobility in unstructured, real-world terrain; they allow robots to step around cluttered environments, scramble up hills, carry heavy loads, and even perform acrobatics. However, mechanical limbs cannot operate as a means for such dynamic locomotion if they are simply treated as general articulated...
    Resource Type:
    Dissertation
    Full Text:
    Ross L. Hatton Robotic limbs have been shown to enable mobility in unstructured, real-world terrain

  • Agile Bipedal Maneuvers Optimized then Learned from Single Rigid-Body Model Dynamics

    Creator:
    Batke, Ryan
    Abstract:
    As bipedal robots move ever closer to being integrated into all manner of real world envi-ronments there is a necessity to push their dynamic capabilities to meet or exceed those of humans and animals. Advancements must be made to address ordinary challenges that arise everyday in the same environments that...
    Resource Type:
    Masters Thesis
    Full Text:
    from being a suitable candidate 7 CoM F F L Figure 2.3: Sketch of a Centroidal Momentum Model

  • Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

    Creator:
    Green, Kevin
    Abstract:
    Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...
    Resource Type:
    Dissertation
    Full Text:
    Optimization Abstract approved: Jonathan Hurst Ross L. Hatton Robotic Bipedal locomotion holds the potential

  • Fully Soft 3D Printed Electroactive Fluidic Valve in Soft Hydraulic Robots

    Creator:
    Zatopa, Alexander
    Abstract:
    Soft robots are designed to utilize their compliance and contortionistic abilities to both interact safely with their environment and move through it in ways a rigid robot cannot. To more completely achieve this, the robot should be made of as many soft components as possible. Here we present a completely...
    Resource Type:
    Masters Thesis
    Full Text:
    indentation. It was found that the max holding pressure of the valve when 5 kV was applied across the

  • Structure and Actuation of Cephalopod-Inspired Soft Robots

    Creator:
    Olson, Gina M.
    Abstract:
    Cephalopod-inspired soft robot arms have been studied as a new type of manipulator. These arms have been proposed for reach and grab tasks, underwater locomotion via swimming and walking, and robotic surgery. However, the capabilities of existing soft arms are limited to simple motions and light loads. Arm design has...
    Resource Type:
    Dissertation
    Full Text:
    Callen Votzke and Professor Ross L. Hatton. I was also lucky enough to work with four amazing

  • Model Predictive Control for Underwater Robots in Ocean Waves

    Creator:
    Fernández, Daniel C.
    Abstract:
    Underwater robots beneath ocean waves can benefit from feedforward control to reduce position error. This thesis proposes a method using Model Predictive Control (MPC) to predict and counteract future disturbances from an ocean wave field. The MPC state estimator employs a Linear Wave Theory (LWT) solver to approximate the component...
    Resource Type:
    Masters Thesis
    Full Text:
    ), the energy (EL) in one water wave- length (L) is the sum of its potential and kinetic energies [14

  • Initial Designs for Improving Conversations for People Using Speech Synthesizers

    Creator:
    Nguyen, Duy M.
    Abstract:
    This thesis aims to determine the impact that Augmentative and Alternative Communication (AAC) devices have on social interactions, and then improves the AAC user experience through a user focus design process. AAC devices enable people who cannot speak to communicate with others. Unfortunately, they are tedious to use and make...
    Resource Type:
    Masters Thesis
    Full Text:
    D L R D 0.87 – Face L 0.90 0.79 – R 0.76 0.81 0.72 – S 0.95 0.80 0.90 0.64 D 0.84 – Around L 0.93