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Constrained Nonlinear Heuristic-Based Mpc For Control Of Robotic Systems With Uncertainty, Tyler James Quackenbush
Constrained Nonlinear Heuristic-Based Mpc For Control Of Robotic Systems With Uncertainty, Tyler James Quackenbush
Theses and Dissertations
This thesis focuses on the development and extension of nonlinear evolutionary model predictive control (NEMPC), a control algorithm previously developed by Phil Hyatt of the BYU RaD Lab. While this controller and its variants are applicable to any high degree-of-freedom (DoF) robotic system, particular emphasis is given in this thesis to control of a soft robot continuum joint. First, speed improvements are presented for NEMPC. Second, a Python package is presented as a companion to NEMPC, as a method of establishing a common interface for dynamic simulators and approximating each system by a deep neural network (DNN). Third, a method …
A Study In Soft Robotics: Metrics, Models, Control, And Estimation, Levi Thomas Rupert
A Study In Soft Robotics: Metrics, Models, Control, And Estimation, Levi Thomas Rupert
Theses and Dissertations
Traditional robots, while capable of being efficient and effective for the task they were designed, are dangerous when operating in unmodeled environments or around humans. The field of soft robotics attempts to increase the safety of robots thus enabling them to operate in environments where traditional robots should not operate. Because of this, soft robots were developed with different goals in mind than traditional robots and as such the traditional metrics used to evaluate standard robots are not effective for evaluating soft robots. New metrics need to be developed for soft robots so that effective comparison and evaluations can be …