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Full-Text Articles in Computer Engineering
Design Of Lower Legs Of Mithra, A High-Performance Backdrivable Humanoid Robot, Drake Taylor
Design Of Lower Legs Of Mithra, A High-Performance Backdrivable Humanoid Robot, Drake Taylor
Electronic Theses and Dissertations
This thesis presents the design of the knee and ankle of Mithra, a new humanoid robot that aims to be an energy-efficient and highly agile machine. Mithra makes use of new optimization metrics for legged robots to develop a system capable of mimicking human movement. A series of low-impedance, high-torque actuator systems were developed with the goal of creating lightweight, powerful, and robust motion. The structure of Mithra's legs mimics the human structure in leg segment length and weight proportions. Detailed design and analysis were conducted in order to allow Mithra to be a robust and maintainable system. Mithra will …
Fuzzy Optimal Swarm Of Autonomous Aircrafts For Target Determination And Convergence Control System, Zach D. Richards
Fuzzy Optimal Swarm Of Autonomous Aircrafts For Target Determination And Convergence Control System, Zach D. Richards
Electronic Theses and Dissertations
The thesis project proposes analytical and theoretical algorithms for a networked swarm of autonomous vehicles, such as those used in planet exploration, and to be used in target location determination and convergence, an algorithm of this type could be used in an Autonomous Stratospheric Aircraft (ASA), thus having the possibility of being used for the exploration of a planet as well as many other applications. Upon locating an unknown location of a specified target, the algorithm would then swarm and eventually converge upon the location. There are two similar, but fundamentally different algorithms proposed in this project. These algorithms are …
Heterogeneous Drive Mechanisms For Novel Locomotion In Rough Terrain, Roy Godzdanker
Heterogeneous Drive Mechanisms For Novel Locomotion In Rough Terrain, Roy Godzdanker
Electronic Theses and Dissertations
The smaller the robot the easier it is for it to access voids in a collapsed structure, however small size brings a host of other problems related to constrained resources. One of the primary constraints on small robots is limited motive power to surmount obstacles and navigate rough terrain. This thesis examines the addition of bulk motive force actuators to existing locomotion platforms and the impact of these heterogeneous actuators on conventional steering methods. The steering methods examined are those associated with skid steered vehicles and differential drive vehicles. In developing the Crabinator, a robot composed of a limbed crawler …