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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 …
Computing Research In Academia: Classifications, Keywords, Perceptions, And Connections, Sung Han Kim
Computing Research In Academia: Classifications, Keywords, Perceptions, And Connections, Sung Han Kim
Theses and Dissertations
The Association for Computing Machinery (ACM) recognizes five computing disciplines: Computer Science (CS), Computer Engineering (CE), Information Technology (IT), Information Systems (IS), and Software Engineering (SE). Founded in 1947 the ACM is the world's largest society for computing educators, researchers, and professionals. While Computer Science has been a degree program since 1962, the other four are relatively new. This research focuses on understanding the graduate research in four of the five ACM disciplines (CS, CE, IT, and IS) using a large body of thesis and dissertation metadata. SE is not found in the metadata and graduate work in SE is …