Energy-based and biomimetic robotics

Gerrit Adriaan Folkertsma

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

187 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

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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.
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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

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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.

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

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