Energy-based and biomimetic robotics

    Research output: ThesisPhD Thesis - Research UT, graduation UT

    323 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

    Keywords

    • IR-104441
    • METIS-321979

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