Open Access. Powered by Scholars. Published by Universities.®
- Keyword
- Publication Type
Articles 1 - 2 of 2
Full-Text Articles in Computer Engineering
Model Based Force Estimation And Stiffness Control For Continuum Robots, Vincent A. Aloi
Model Based Force Estimation And Stiffness Control For Continuum Robots, Vincent A. Aloi
Doctoral Dissertations
Continuum Robots are bio-inspired structures that mimic the motion of snakes, elephant trunks, octopus tentacles, etc. With good design, these robots can be naturally compliant and miniaturizable, which makes Continuum Robots ideal for traversing narrow complex environments. Their flexible design, however, prevents us from using traditional methods for controlling and estimating loading on rigid link robots.
In the first thrust of this research, we provided a novel stiffness control law that alters the behavior of an end effector during contact. This controller is applicable to any continuum robot where a method for sensing or estimating tip forces and pose exists. …
Unconventional Computation Including Quantum Computation, Bruce J. Maclennan
Unconventional Computation Including Quantum Computation, Bruce J. Maclennan
Faculty Publications and Other Works -- EECS
Unconventional computation (or non-standard computation) refers to the use of non-traditional technologies and computing paradigms. As we approach the limits of Moore’s Law, progress in computation will depend on going beyond binary electronics and on exploring new paradigms and technologies for information processing and control. This book surveys some topics relevant to unconventional computation, including the definition of unconventional computations, the physics of computation, quantum computation, DNA and molecular computation, and analog computation. This book is the content of a course taught at UTK.