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Control and Analysis of Soft Body Lo...

Kandhari, Akhil.

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Control and Analysis of Soft Body Locomotion on a Robotic Platform.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Control and Analysis of Soft Body Locomotion on a Robotic Platform./
Author:	Kandhari, Akhil.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2020,
Description:	215 p.
Notes:	Source: Dissertations Abstracts International, Volume: 82-10, Section: B.
Contained By:	Dissertations Abstracts International82-10B.
Subject:	Biomechanics. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28332416
ISBN:	9798557088619

Control and Analysis of Soft Body Locomotion on a Robotic Platform.
Kandhari, Akhil.

Control and Analysis of Soft Body Locomotion on a Robotic Platform. - Ann Arbor : ProQuest Dissertations & Theses, 2020 - 215 p.

Source: Dissertations Abstracts International, Volume: 82-10, Section: B.

Thesis (Ph.D.)--Case Western Reserve University, 2020.

This item must not be sold to any third party vendors.

Earthworms locomote using traveling waves of segment contraction and expansion, which when symmetric, result in straight-line locomotion and when biased result in turning. The mechanics of the soft body permit a large range of possible body shapes which both comply with the environment and contribute to directed locomotion. Inspired by earthworms, a new platform: Compliant Modular Mesh Worm robot (CMMWorm) is presented to study this type of locomotion. Using this platform as the basis for evaluation, I show that locomotion efficiency is sensitive to body stiffness. Furthermore, using simplified beam theory, I demonstrate the power required for peristaltic locomotion is related to the geometrical properties, structural properties and gait pattern of the robot. The analyses of peristaltic locomotion demonstrate energetic losses to frictional slip is the key reason for loss of power efficiency. By representing segments as isosceles trapezoids with reasonable ranges of motion, I determine control waves that in simulation do not require slip. I apply the resulting control wave on our robotic platform that leads to a decrease in prediction error, improving kinematic motion prediction for planning. To mimic the ability of an earthworm to adapt to external perturbations, I equipped the CMMWorm with pressure and stretch sensors for improving locomotion efficiency in constrained environments. I show that using a closed-loop controller helps eliminate slip in constrained environments thereby increasing locomotion efficiency. These analyses can help in the development of design criteria and control for future soft robotic peristaltic devices.

ISBN: 9798557088619Subjects--Topical Terms:

548685
Biomechanics.
Subjects--Index Terms:

Worm-like robots

Control and Analysis of Soft Body Locomotion on a Robotic Platform.
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300 $a 215 p.
500 $a Source: Dissertations Abstracts International, Volume: 82-10, Section: B.
500 $a Advisor: Quinn, Roger D.;Daltorio, Kathryn;Chiel, Hillel.
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520 $a Earthworms locomote using traveling waves of segment contraction and expansion, which when symmetric, result in straight-line locomotion and when biased result in turning. The mechanics of the soft body permit a large range of possible body shapes which both comply with the environment and contribute to directed locomotion. Inspired by earthworms, a new platform: Compliant Modular Mesh Worm robot (CMMWorm) is presented to study this type of locomotion. Using this platform as the basis for evaluation, I show that locomotion efficiency is sensitive to body stiffness. Furthermore, using simplified beam theory, I demonstrate the power required for peristaltic locomotion is related to the geometrical properties, structural properties and gait pattern of the robot. The analyses of peristaltic locomotion demonstrate energetic losses to frictional slip is the key reason for loss of power efficiency. By representing segments as isosceles trapezoids with reasonable ranges of motion, I determine control waves that in simulation do not require slip. I apply the resulting control wave on our robotic platform that leads to a decrease in prediction error, improving kinematic motion prediction for planning. To mimic the ability of an earthworm to adapt to external perturbations, I equipped the CMMWorm with pressure and stretch sensors for improving locomotion efficiency in constrained environments. I show that using a closed-loop controller helps eliminate slip in constrained environments thereby increasing locomotion efficiency. These analyses can help in the development of design criteria and control for future soft robotic peristaltic devices.
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653 $a Soft robots
653 $a Robot control
653 $a Peristaltic locomotion
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