Abstract
Original language | English |
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Awarding Institution |
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Award date | 21 Apr 2017 |
Place of Publication | Enschede |
Publisher | |
Print ISBNs | 978-90-365-4316-3 |
DOIs | |
Publication status | Published - 21 Apr 2017 |
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Keywords
- IR-104441
- METIS-321979
Cite this
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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 -