Evaluation of Modeling Procedures for a Soft-Bodied Robot.
Abstract: This thesis
details two major contributions in the design of highly deformable robots used for Urban
Search and Rescue missions. The first contribution of the thesis is a proposed method
for obtaining optimized 3D model generation from abstract simulation outputs, while
leveraging the benefits of both optimization techniques and human-centric design. The
second contribution is a ... read moredemonstration that a properly constrained simulation is highly
beneficial to finding realizable models, as well as a series of tests that ensure the
proposed constraints do not significantly hinder the genetic algorithm's search space.
To verify the proposed methods, a prototype was designed and tested. The result of the
experiment was a partial verification of these methods, in that it showed the methods
are feasible to implement, but the experiment also highlighted some challenges that
remain in accounting for additional complexities, especially modeling actuator
attachment and the effects of contact between the actuators and the body of the
Thesis (M.S.)--Tufts University, 2011.
Submitted to the Dept. of Mechanical Engineering.
Advisor: Jason Rife.
Committee: Rob White, and Soha Hassoun.
Keywords: Robotics, Engineering, and Computer science.read less
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