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Autonomous Goal-Based Mapping And Navigation Using A Ground Robot, Jeffrey L. Ferrin
Autonomous Goal-Based Mapping And Navigation Using A Ground Robot, Jeffrey L. Ferrin
Theses and Dissertations
Ground robotic vehicles are used in many different applications. Many of these uses include tele-operation of the robot. This allows the robot to be deployed in locations that are too difficult or are unsafe for human access. The ability of a ground robot to autonomously navigate to a desired location without a-priori map information and without using GPS would allow robotic vehicles to be used in many of these situations and would free the operator to focus on other more important tasks. The purpose of this research is to develop algorithms that enable a ground robot to autonomously navigate to …
Comparing Efficacy Of Different Dynamic Models For Control Of Underdamped, Antagonistic, Pneumatically Actuated Soft Robots, Morgan Thomas Gillespie
Comparing Efficacy Of Different Dynamic Models For Control Of Underdamped, Antagonistic, Pneumatically Actuated Soft Robots, Morgan Thomas Gillespie
Theses and Dissertations
Research in soft robot hardware has led to the development of platforms that allow for safer performance when working in uncertain or dynamic environments. The potential of these platforms is limited by the lack of proper dynamic models to describe or controllers to operate them. A common difficulty associated with these soft robots is a representation for torque, the common electromechanical relation seen in motors does not apply. In this thesis, several different torque models are presented and used to construct linear state-space models. The control limitations on soft robots are induced by natural compliance inherent to the hardware. This …