Embedding Desired Dynamics into Physical and Control Parameters of a Mechanical System.
Abstract: To date, no
method has been identified that utilizes morphological and control parameters of an
under-actuated system in order to create periodic oscillations of states by altering a
system's mode shapes. Phased periodic oscillations of system states are relevant in
robot and animal locomotion. For example, the gait of a snake robot utilizes phased
oscillations of segments in order ... read moreto generate forward movement. As is evident in many
natural systems, the interactions between direct actuation, sensory feedback, and
morphological characteristics are all vital to create periodic oscillations that
generate locomotion. This thesis introduces novel methodologies of creating periodic
oscillations in under-actuated systems by altering mode shapes through design of
physical and control parameters. Currently, it is not well understood how to design a
system's modes to create desired periodic movements given a prescribed forcing function.
It is also not well understood how to embed desired modes into system dynamics. The
benefits of such methods are important to a large range of potential dynamic systems
spanning from soft robots to rigid structures. In order to achieve this goal the
conversion of designer-specified trajectories into mode shapes, and then the creation of
those mode shapes in hardware, will be
Thesis (Ph.D.)--Tufts University, 2013.
Submitted to the Dept. of Mechanical Engineering.
Advisor: Jason Rife.
Committee: Barry Trimmer, Rob White, and John Rieffel.
Keyword: Mechanical engineering.read less