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  • Ballistic rebounds for wrapping a target with a casting manipulator

    Creator:
    Hill, Lucas P.
    Abstract:
    Casting manipulation in robotics is the act of launching a tethered projectile and using it to interact with the environment. One such interaction is wrapping a target. In this work, we identify throwing and tether control parameters for successfully wrapping a target with an end-weighted cable, evolving through a set...
    Resource Type:
    Masters Thesis
    Full Text:
    Target with a Casting Manipulator Abstract approved: Ross L. Hatton Casting manipulation in robotics

  • The Effect of Varying Parameters on Web Vibration Analysis Accuracy

    Creator:
    Gladson, Kathleen Y.
    Abstract:
    The SpiderHarp is a bio-inspired electronic musical instrument that uses a localization algorithm developed at Oregon State University to translate plucks of its strings into musical notes. This localization algorithm was inspired by the way spiders locate prey in their webs. The SpiderHarp frame, sensors, and web design are also...
    Resource Type:
    Honors College Thesis
    Full Text:
    International Studies project of Kathleen Gladson presented on May 29, 2019 APPROVED: Ross Hatton, Mentor

  • Robotic Machining Fundamentals for Casting Defect Removal

    Creator:
    Biederman, Moriah
    Abstract:
    In the past half century, industrial robots have developed a strong presence in manufacturing. They now commonly perform tasks such as materials handling, assembly, welding, and painting. Unfortunately robotic machining tasks have seen limited deployments. The majority of machining robots are designed for soft materials like wood or plastic and...
    Resource Type:
    Masters Thesis
    Full Text:
    Fundamentals for Casting Defect Removal Abstract approved: Ross Hatton In the past half century, industrial

  • Design and Development of a Salticid Inspired Jumping Robot

    Creator:
    Tachella, Ramsey
    Abstract:
    The ability to jump allows small robots to traverse rough terrain, clear large obstacles, and quickly reach elevated locations. These abilities have applications in a variety of areas such as, search and rescue, environmental monitoring, and urban warfare. The primary focus in current state-of-the-art jumping robots has been on jumping...
    Resource Type:
    Masters Thesis
    Full Text:
    Salticid Inspired Jumping Robot Abstract approved: Ross Hatton The ability to jump allows small robots

  • 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 Optimization Methods for Mobile Systems

    Creator:
    Bass, Capprin J.
    Abstract:
    When studying robot systems, it is common to ask about optimal approaches to accomplish a given task. In the context of mobile systems, particularly biomimetic systems, optimization tasks are closely related to the relevant dynamics of locomotion. In this thesis, building on prior work from the geometric mechanics community, we...
    Resource Type:
    Masters Thesis
    Full Text:
    Methods for Mobile Systems Abstract approved: Ross L. Hatton When studying robot systems, it is common

  • 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...
    Resource Type:
    Dissertation
    Full Text:
    : Orb Web Vibrations: Modeling, Localization, and Measurement Abstract approved: Ross L. Hatton The

  • Improving Understanding of Geometric Swimmer Locomotion

    Creator:
    Remaley, Jacquelin L.
    Abstract:
    This work seeks to improve the knowledge surrounding geometric snake swimmers through both theoretical and practical means. To begin, manufacturing techniques for a silicon-based pneumatic actuator were validated through experimentation. When inflated, the actuators exhibited an unanticipated elongation. In an attempt to confirm theoretical displacement predictions, a more accurate dynamic...
    Resource Type:
    Masters Thesis
    Full Text:
    Geometric Swimmer Locomotion Abstract approved: Ross L. Hatton This work seeks to improve the knowledge

  • 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

  • Geometric Swimming at Low and High Reynolds Numbers

    Creator:
    Hatton, Ross L. and Choset, Howie
    Abstract:
    Several efforts have recently been made to relate the displacement of swimming three-link systems over strokes to geometric quantities of the strokes. In doing so, they provide powerful, intuitive representations of the bounds on a system’s locomotion capabilities and the forms of its optimal strokes or gaits. While this approach...
    Resource Type:
    Article
    Full Text:
    Geometric Swimming at Low and High Reynolds Numbers Ross L. Hatton, Member, IEEE, Howie Choset, Member