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Full-Text Articles in Robotics
Lyapunov-Based Coordinated Control Of An Underactuated Unmanned Aerial Vehicle And Robot Manipulator, Dongbin Lee
Lyapunov-Based Coordinated Control Of An Underactuated Unmanned Aerial Vehicle And Robot Manipulator, Dongbin Lee
All Dissertations
This Ph.D. dissertation describes nonlinear tracking control results for a quadrotor helicopter unmanned aerial vehicle (UAV) towards the ultimate goal of controlling a combined UAV plus robot manipulator system (UAVRM). The quadrotor UAV is a helicopter that has four independent rotors that provide vertical lift: these four independent forces are managed in order to directly provide lift, pitch, roll, and yaw of the vehicle. Horizontal translations result from pitch and roll actions, the system is underactuated in the sense that there are only four control inputs to move the six degree-of-freedom aircraft. There are exising dynamic models of the quadrotor …
Design, Construction, And Testing Of A New Class Of Mobile Robots, Ivan Siles
Design, Construction, And Testing Of A New Class Of Mobile Robots, Ivan Siles
All Theses
This thesis introduces a novel mobile robot design concept aimed at exploration of subterranean spaces. The key innovation is the combination of highly maneuverable body elements with wheel/leg elements (Whegs). This combination offers performance not possible with conventional 'monolithic' wheeled or tracked mobile robots, or with current robot snakes. The thesis covers four design iterations of the concept, concentrating on describing the overall design process and results from field tests. Additionally a kinematic analysis of the fourth prototype and implications for future designs is presented.