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Filtering by: Creator Dale, A. C. Remove constraint Creator: Dale, A. C. Degree Field Mechanical Engineering Remove constraint Degree Field: Mechanical Engineering Degree Field Robotics Remove constraint Degree Field: Robotics

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  • Non-Myopic Distributed Coordination and Planning for Robotic Teams

    Creator:
    Smith, Andrew
    Abstract:
    As robotic systems become increasingly prevalent in our lives (e.g., by harvesting food, assisting with disaster response and defense, and transporting persons and our goods around the world) there is a growing need to ensure that they can cooperate to achieve their intended goals. Robotic cooperation in the real-world is...
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    Dissertation
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    reward by a maximum of 47.2% in the trials conducted. c©Copyright by Andrew Smith May 16, 2018 All

  • 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...
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    Dissertation
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    [106]. b) A cable-driven continuum backbone robot arm [121]. c) An electrostatic-based fluidic

  • From running birds to walking robots : optimization as a unifying framework for dynamic bipedal locomotion

    Creator:
    Hubicki, Christian M.
    Abstract:
    Bipedal locomotion is a complex phenomenon to understand and control, making it difficult for legged robots to achieve the speed, agility, efficiency, and robustness of their animal counterparts. This thesis argues for the use of numerical optimization to investigate and implement bipedal control as it applies to biology, dynamical models,...
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    Dissertation
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    connections from the central motor stack, through the series springs, to the four-bar leg mechanism. (c) A

  • Adaptive Multiagent Traffic Management for Autonomous Robotic Systems

    Creator:
    Rebhuhn, Carrie
    Abstract:
    There is growing commercial interest in the use of unmanned aerial vehicles (UAVs) in urban environments, specifically for package delivery applications. However, the size, complexity and sheer numbers of expected UAVs makes conventional air traffic management that relies on human air traffic controllers infeasible. To enable UAVs to safely and...
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    Dissertation
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    learning, single agent exclusion, and a sliding number of agents learning in the system. c©Copyright by

  • Orb Web Vibrations: Modeling, Localization, and Measurement

    Creator:
    Otto, Andrew W.
    Abstract:
    The orb web is a multipurpose structure---serving as a home for its inhabitant spider, as a prey capture device, and as a physical extension of the spider’s sensing abilities. Biologists are particularly interested in the spider’s ability to locate prey trapped in its web by sensing the vibrations induced from...
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    . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 3.1 Slack geoemetry and tension distributions of the β = 45◦ web (a–c), and for the β = 0◦ web (d

  • Smooth Trajectory Generation for Machine Tools and Industrial Robots

    Creator:
    Tajima, Shingo
    Abstract:
    This thesis presents accurate and time-optimal smooth reference trajectory generation techniques for manufacturing equipment such as high-speed machine tools (MT) and industrial robots (IR). Typical machining tool-paths for MTs and IRs are defined as a series of discrete linear moves. Although Point-to-Point (P2P) feed motion can be generated by interpolating...
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    Dissertation
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    ey c sy y y y V V V V V A T T J T J T V V V V V A T T J T J T

  • Multi-Objective Optimization in Multiagent Systems

    Creator:
    Yliniemi, Logan Michael
    Abstract:
    Cooperative multiagent systems are used as solution concepts in many application domains including air traffic control, satellite communications, and extra planetary exploration. As systems become more distributed and complex, we observe three phenomena. First, these systems cannot be accurately modeled, rendering traditional model based control methods inadequate. Second, system parameters...
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    time; and (iv) integrating the previously developed algorithm into a multiagent system. c©Copyright

  • 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...
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    Dissertation
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    dissipation throughout the cycle, the optimal gait for the passive Purcell swimmer in (c) is plotted using a

  • Dynamics and control for spring-mass legged robots

    Creator:
    Vejdani Noghreiyan, Hamid Reza
    Abstract:
    The objective of this study is to propose control strategies for legged robots to walk and run naturally like humans and animals. To achieve this goal, we use the spring-mass model for the legged robots to be able to create the same dynamics in the leg as humans and animals....
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    . . . . . . . . . . . . . . . 12 2.3 Different versions of ATRIAS [1]. a) the concept of ATRIAS, b) leg mechanism, c)ATRIAS 1.0

  • 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...
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    -length which results in constant speed and zero acceleration. (c) the cost is considered as a combination