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Intelligent Control of Legged Soft Robot.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Intelligent Control of Legged Soft Robot./
作者:	Kaainoa, Carina Elena.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
面頁冊數:	46 p.
附註:	Source: Masters Abstracts International, Volume: 83-02.
Contained By:	Masters Abstracts International83-02.
標題:	Electrical engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28494278
ISBN:	9798534663020

Intelligent Control of Legged Soft Robot.
Kaainoa, Carina Elena.

Intelligent Control of Legged Soft Robot. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 46 p.

Source: Masters Abstracts International, Volume: 83-02.

Thesis (M.S.)--California State University, Los Angeles, 2021.

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

Soft robots made of soft and extensible materials accomplish tasks via shape-changing by use of pneumatic or fluidic actuation. Dynamic modeling of soft robots has been challenging due to the nonlinearity and heterogeneity inherent from their soft material bodies, therefore, the model-based control methods cannot be directly applied. In this thesis, motion control of a pneumatically actuated quadrupedal soft robot via a combination of reinforcement learning and a dead-band proportional integral derivative controller is proposed. The coordinated rhythmic motion of a soft quadruped robot is governed by the Kuramoto central pattern generator which represents a continuous, smooth control policy with small number of parameters. A reinforcement learning methodology called parameter-exploring policy gradient, a gradient estimation algorithm, is utilized to find the forward motion optimal control policy. Finally, a dead-band proportional integral derivative controller is designed for trajectory control. The effectiveness of the proposed tracking control method is demonstrated via simulation.

ISBN: 9798534663020Subjects--Topical Terms:

649834
Electrical engineering.
Subjects--Index Terms:

Dynamic modeling

Intelligent Control of Legged Soft Robot.
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300 $a 46 p.
500 $a Source: Masters Abstracts International, Volume: 83-02.
500 $a Advisor: Karimlou, Kamran.
502 $a Thesis (M.S.)--California State University, Los Angeles, 2021.
506 $a This item must not be sold to any third party vendors.
520 $a Soft robots made of soft and extensible materials accomplish tasks via shape-changing by use of pneumatic or fluidic actuation. Dynamic modeling of soft robots has been challenging due to the nonlinearity and heterogeneity inherent from their soft material bodies, therefore, the model-based control methods cannot be directly applied. In this thesis, motion control of a pneumatically actuated quadrupedal soft robot via a combination of reinforcement learning and a dead-band proportional integral derivative controller is proposed. The coordinated rhythmic motion of a soft quadruped robot is governed by the Kuramoto central pattern generator which represents a continuous, smooth control policy with small number of parameters. A reinforcement learning methodology called parameter-exploring policy gradient, a gradient estimation algorithm, is utilized to find the forward motion optimal control policy. Finally, a dead-band proportional integral derivative controller is designed for trajectory control. The effectiveness of the proposed tracking control method is demonstrated via simulation.
590 $a School code: 0962.
650 4 $a Electrical engineering. $3 649834
650 4 $a Artificial intelligence. $3 516317
650 4 $a Mechanical engineering. $3 649730
650 4 $a Robotics. $3 519753
650 4 $a Control theory. $3 535880
650 4 $a Research. $3 531893
650 4 $a Standard deviation. $3 3560390
650 4 $a Normal distribution. $3 3561025
650 4 $a Optimization. $3 891104
650 4 $a Legs. $3 3563163
650 4 $a Robots. $3 529507
650 4 $a Motion control. $3 3681673
650 4 $a Probability distribution. $3 3562293
650 4 $a Generators. $3 3681674
650 4 $a Simulation. $3 644748
650 4 $a Controllers. $3 3559217
650 4 $a Oscillators. $3 3681675
650 4 $a Design. $3 518875
650 4 $a Probability. $3 518898
650 4 $a Methods. $3 3560391
650 4 $a Algorithms. $3 536374
650 4 $a Walking. $3 548733
653 $a Dynamic modeling
653 $a Motion control
653 $a Pneumatically actuation
653 $a Quadrupedal soft robot
653 $a Reinforcement learning
653 $a Dead-band proportional integral derivative controller
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690 $a 0800
690 $a 0548
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690 $a 0389
710 2 $a California State University, Los Angeles. $b Electrical and Computer Engineering. $3 3181383
773 0 $t Masters Abstracts International $g 83-02.
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791 $a M.S.
792 $a 2021
793 $a English
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