Energy-based and biomimetic robotics

Gerrit Adriaan Folkertsma

Research output: Thesis › PhD Thesis - Research UT, graduation UT › Academic

206 Downloads (Pure)

Abstract

All physical systems interact by exchanging power, or energy. This energy can be explicitly taken into account when designing robotic systems, in dynamic models of systems and controllers, leading to more insight in energy-related effects. In this thesis, a biomimetic cheetah robot is developed, by first identifying core dynamic (energy-based) principles of the real cheetah and then translating them into a mechanical design. Theoretical aspects required for this analysis and design are amongst others synchronisation of limit cycles, energy-efficiency of hopping robots, passivity and energy-aware controllers, morphological computation. Finally, we introduce a biomimetic robotic bird on which we aim to apply the methods and tools used and developed for the cheetah.
Original languageEnglish
Awarding Institution
  • University of Twente
Supervisors/Advisors
  • Stramigioli, Stefano , Supervisor
  • van der Schaft, Arjan, Advisor
Award date21 Apr 2017
Place of PublicationEnschede
Publisher
Print ISBNs978-90-365-4316-3
DOIs
Publication statusPublished - 21 Apr 2017

Fingerprint

Biomimetics
Robotics
Robots
Controllers
Birds
Energy efficiency
Dynamic models
Synchronization

Keywords

  • IR-104441
  • METIS-321979

Cite this

Folkertsma, Gerrit Adriaan. / Energy-based and biomimetic robotics. Enschede : University of Twente, 2017. 210 p.
@phdthesis{a923dd63b5e94a0982bbc7338ffa4017,
title = "Energy-based and biomimetic robotics",
abstract = "All physical systems interact by exchanging power, or energy. This energy can be explicitly taken into account when designing robotic systems, in dynamic models of systems and controllers, leading to more insight in energy-related effects. In this thesis, a biomimetic cheetah robot is developed, by first identifying core dynamic (energy-based) principles of the real cheetah and then translating them into a mechanical design. Theoretical aspects required for this analysis and design are amongst others synchronisation of limit cycles, energy-efficiency of hopping robots, passivity and energy-aware controllers, morphological computation. Finally, we introduce a biomimetic robotic bird on which we aim to apply the methods and tools used and developed for the cheetah.",
keywords = "IR-104441, METIS-321979",
author = "Folkertsma, {Gerrit Adriaan}",
year = "2017",
month = "4",
day = "21",
doi = "10.3990/1.9789036543163",
language = "English",
isbn = "978-90-365-4316-3",
publisher = "University of Twente",
address = "Netherlands",
school = "University of Twente",

}

Folkertsma, GA 2017, 'Energy-based and biomimetic robotics', University of Twente, Enschede. https://doi.org/10.3990/1.9789036543163

Energy-based and biomimetic robotics. / Folkertsma, Gerrit Adriaan.

Enschede : University of Twente, 2017. 210 p.

Research output: Thesis › PhD Thesis - Research UT, graduation UT › Academic

TY - THES

T1 - Energy-based and biomimetic robotics

AU - Folkertsma, Gerrit Adriaan

PY - 2017/4/21

Y1 - 2017/4/21

N2 - All physical systems interact by exchanging power, or energy. This energy can be explicitly taken into account when designing robotic systems, in dynamic models of systems and controllers, leading to more insight in energy-related effects. In this thesis, a biomimetic cheetah robot is developed, by first identifying core dynamic (energy-based) principles of the real cheetah and then translating them into a mechanical design. Theoretical aspects required for this analysis and design are amongst others synchronisation of limit cycles, energy-efficiency of hopping robots, passivity and energy-aware controllers, morphological computation. Finally, we introduce a biomimetic robotic bird on which we aim to apply the methods and tools used and developed for the cheetah.

AB - All physical systems interact by exchanging power, or energy. This energy can be explicitly taken into account when designing robotic systems, in dynamic models of systems and controllers, leading to more insight in energy-related effects. In this thesis, a biomimetic cheetah robot is developed, by first identifying core dynamic (energy-based) principles of the real cheetah and then translating them into a mechanical design. Theoretical aspects required for this analysis and design are amongst others synchronisation of limit cycles, energy-efficiency of hopping robots, passivity and energy-aware controllers, morphological computation. Finally, we introduce a biomimetic robotic bird on which we aim to apply the methods and tools used and developed for the cheetah.

KW - IR-104441

KW - METIS-321979

U2 - 10.3990/1.9789036543163

DO - 10.3990/1.9789036543163

M3 - PhD Thesis - Research UT, graduation UT

SN - 978-90-365-4316-3

PB - University of Twente

CY - Enschede

ER -

Folkertsma GA. Energy-based and biomimetic robotics. Enschede: University of Twente, 2017. 210 p. https://doi.org/10.3990/1.9789036543163

Access to Document