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A Two Stage Event Based Data Driven Controller For Improved Grasping Of An Artificial Hand, Christopher Abrego
A Two Stage Event Based Data Driven Controller For Improved Grasping Of An Artificial Hand, Christopher Abrego
Mechanical and Aerospace Engineering Dissertations
The human hand is one of the greatest (if not the greatest) tool known to mankind for grasping objects. So much so, that researchers have been investigating the development of artificial biomimetic hands in an effort to mimic their functionality and dexterity with the indent to apply the technology to various robotic platforms; ranging from end effectors for industrial pick-and-place robotics, to upper-limb prosthetics, to humanoids. There are certain features that make this endeavor challenging such as the mechanical design, actuation and sensorization, and functionality as well as the interaction from both the view point of interacting with an end …
Dynamics And Control Of Jumping Legged Robot, Gurashish Singh
Dynamics And Control Of Jumping Legged Robot, Gurashish Singh
Mechanical and Aerospace Engineering Theses
This research aims to studying the agility of legged robots particularly their interactions with the ground and achieve a jumping motion by using an operational space controller. Methods were developed to first formulate the equations of motions of the full system. Then we used the published impact and contact analytical framework to detect simultaneous, indeterminate impact and transition to contact with friction and addressed the well-known issues with energy consistency when using rigid body models for dynamic systems (i.e. there are no unusual gains in the energy after impact has ended). Non-penetration of the ground was achieved through online constraint …