Adaptive locomotion of modular reconfigurable robotic systems:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
Aachen
Shaker
2013
|
| Series: | BV-Forschungsberichte
2013,1 |
| Subjects: | |
| Online Access: | Inhaltsverzeichnis Inhaltsverzeichnis |
| Physical Description: | XVI, 153 S. Ill., graph. Darst. 210 mm x 148 mm, 243 g |
| ISBN: | 9783844021479 |
Staff View
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Record in the Search Index
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| adam_text | CONTENTS
CONTENTS III
LIST OF FIGURES VIII
LIST OF TABLES IX
LIST OF ABBREVIATIONS XI
1. INTRODUCTION 1
1.1. MOTIVATION 1
1.2. APPLICATION SCENARIOS 4
1.3. RESEARCH AREA OUTLINES AND CONTRIBUTIONS 5
1.3.1. SELF-RECOGNITION 5
1.3.2. GAIT GENERATION AND CONTROL (J
1.3.3. ROBOT DYNAMICS 7
1.3.4. SENSING 7
1.3.5. COMPUTATION AND COMMUNICATION IN MULTI-ROBOT ORGANISMS . . 8
1.4. THESIS ORGANISATION 8
1. FOUNDATIONS 11
2. STATE OF THE ART AND RELATED WORK 13
2.1. REVIEW ON MODULAR ROBOTS 13
2.2. CLASSIFICATION OF MODULAR ROBOTIC SYSTEMS 16
2.3. PROJECTS SYMBR.ION AND REPLICATOR 20
2.3.1. BACKBONE 22
2.3.2. SCOUT 23
2.3.3. ACTIVE WHEEL 24
I
HTTP://D-NB.INFO/1037711386
CONTENTS
II.
ADAPTIVE LOCOMOTION AND CONTROL 27
3. ADAPTIVE GAIT CONTROL FOR LOCOMOTION 29
3.1. CPG FOR GENERAL CONFIGURATIONS 30
3.1.1. CHAOTIC SYSTEMS 32
3.1.2. CHAOTIC MAPS 32
3.1.3. COUPLED MAP LATTICE 33
3.1.4. ONE-DIINENSIONAL COUPLING 34
3.1.5. TWO-DIMENSIONAL COUPLING 36
3.1.6. ACTIVE PHASE PERTURBATION METHOD 37
3.1.7. TOWARDS IMPLEMENTATION ANALYSIS 42
3.2. RHYTHMIC PATTERN GENERATOR FOR SNAKE ROBOTS 43
3.2.1. RHYTHMIC GAITS OF LIMBLESS ROBOT ORGANISMS 44
3.2.2. ADAPTIVE GAIT 45
3.2.3. ADAPTIVE ALGORITHM IN 2D 46
3.2.4. SNAKE DYNAMICS 47
3.2.5. IMPLEMENTATION ON SNAKE ROBOT 5:|
3.3. CONCLUSION 55
4. DYNAMIC MODEL OF MULTIBODY SYSTEMS 59
4.1. ROBOT ASSEMBLY REPRESENTATION 60
4.1.1. ASSEMBLY INCIDENCE MATRIX 61
4.1.2. ADAPTED ASSEMBLY INCIDENCE MATRIX 63
4.1.3. ACCESSIBILITY MATRIX 66
4.1.4. PATH MATRIX 67
4.2. MULTIBODY KINEMATICS 70
4.2.1. RIGID BODY MOTION 70
4.2.2. LIE GROUPS AND LIE ALGEBRAS 71
4.2.3. EXPONENTIAL MAP ON SE(3) 72
4.2.4. TWISTS AND WRENCHES 73
4.2.5. ADJOINT REPRESENTATION 74
4.2.6. THE PRODUCT-OF-EXPONENTIALS FORMULA 75
4.2.7. DYAD KINEMATICS 75
4.2.8. FORWARD KINEMATICS 76
4.2.9. LIST-BASED FORWARD KINEMATICS 77
4.3. MULTIBODY DYNAMICS 82
4.3.1. AUTOMATIC GENERATION OF MOTION EQUATIONS 84
4.3.2. RECURSIVE TWO-STEP APPROACH 85
4.3.3. EQUATIONS OF MOTION 86
4.3.4. PROOF OF CONCEPT 87
4.4. MODUROB - MODULAR ROBOTICS SOFTWARE TOOL 95
4.5. CONCLUSION 98
II
CONTENTS
III. FORCE DETECTION SENSOR 99
5. ARTIFICIAL SENSORY SKIN 101
5.1. BIO-INSPIRED CONCEPT 103
5.1.1. OPTICAL METHOD 105
*5.1.2. CAPACITIVE METHOD 107
5.2. SKIN HARDWARE 108
5.2.1. SLAVE MODULE 109
5.2.2. MASTER MODULE 109
5.2.3. SUPPLY LAYER 110
5.3. FUZZY LOGIC BASED SENSOR FUSION 7 ILL
5.4. IMPLEMENTATION 114
5.5. APPLICATIONS AND RESULTS 117
5.6. CONCLUSION AND FUTURE WORK 121
IV. ROBOT ELECTRONICS 123
6. MAINBOARD DESIGN 125
6.1. ROBOT COMMUNICATION 125
6.2. ELECTRONICS ARCHITECTURE 126
6.3. MAINBOARD REVISIONS 127
6.3.1. GENERATION 1 1.28
6.3.2. GENERATION II 128
6.3.3. GENERATION III 129
6.4. SOFTWARE ARCHITECTURE 131
6.5. CONCLUSION 133
7. CONCLUSION 135
7.1. SUMMARY 135
7.2. FUTURE WORK 137
BIBLIOGRAPHY 138
APPENDIX: MAINBOARD SCHEMATICS 146
III
|
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| author_GND | (DE-588)1043834524 |
| author_facet | Meister, Eugen |
| author_role | aut |
| author_sort | Meister, Eugen |
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| classification_tum | FER 986d FER 988d |
| ctrlnum | (OCoLC)865044548 (DE-599)DNB1037711386 |
| discipline | Fertigungstechnik |
| format | Thesis Book |
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| id | DE-604.BV042087425 |
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| indexdate | 2024-07-10T01:12:22Z |
| institution | BVB |
| isbn | 9783844021479 |
| language | English |
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| physical | XVI, 153 S. Ill., graph. Darst. 210 mm x 148 mm, 243 g |
| publishDate | 2013 |
| publishDateSearch | 2013 |
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| publisher | Shaker |
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| series2 | BV-Forschungsberichte |
| spelling | Meister, Eugen Verfasser (DE-588)1043834524 aut Adaptive locomotion of modular reconfigurable robotic systems Eugen Meister Aachen Shaker 2013 XVI, 153 S. Ill., graph. Darst. 210 mm x 148 mm, 243 g txt rdacontent n rdamedia nc rdacarrier BV-Forschungsberichte 2013,1 Zugl.: Stuttgart, Univ., Diss., 2013 Rekonfiguration (DE-588)4306238-6 gnd rswk-swf Bahnplanung (DE-588)4267628-9 gnd rswk-swf Modulbauweise (DE-588)4125467-3 gnd rswk-swf Autonomes System (DE-588)4143713-5 gnd rswk-swf Selbst organisierendes System (DE-588)4054424-2 gnd rswk-swf Mehrrobotersystem (DE-588)4734038-1 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Mehrrobotersystem (DE-588)4734038-1 s Bahnplanung (DE-588)4267628-9 s Selbst organisierendes System (DE-588)4054424-2 s Modulbauweise (DE-588)4125467-3 s Rekonfiguration (DE-588)4306238-6 s Autonomes System (DE-588)4143713-5 s DE-604 BV-Forschungsberichte 2013,1 (DE-604)BV035986646 2013,1 DE-601 pdf/application http://www.gbv.de/dms/tib-ub-hannover/756743257.pdf Inhaltsverzeichnis DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027528362&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Meister, Eugen Adaptive locomotion of modular reconfigurable robotic systems BV-Forschungsberichte Rekonfiguration (DE-588)4306238-6 gnd Bahnplanung (DE-588)4267628-9 gnd Modulbauweise (DE-588)4125467-3 gnd Autonomes System (DE-588)4143713-5 gnd Selbst organisierendes System (DE-588)4054424-2 gnd Mehrrobotersystem (DE-588)4734038-1 gnd |
| subject_GND | (DE-588)4306238-6 (DE-588)4267628-9 (DE-588)4125467-3 (DE-588)4143713-5 (DE-588)4054424-2 (DE-588)4734038-1 (DE-588)4113937-9 |
| title | Adaptive locomotion of modular reconfigurable robotic systems |
| title_auth | Adaptive locomotion of modular reconfigurable robotic systems |
| title_exact_search | Adaptive locomotion of modular reconfigurable robotic systems |
| title_full | Adaptive locomotion of modular reconfigurable robotic systems Eugen Meister |
| title_fullStr | Adaptive locomotion of modular reconfigurable robotic systems Eugen Meister |
| title_full_unstemmed | Adaptive locomotion of modular reconfigurable robotic systems Eugen Meister |
| title_short | Adaptive locomotion of modular reconfigurable robotic systems |
| title_sort | adaptive locomotion of modular reconfigurable robotic systems |
| topic | Rekonfiguration (DE-588)4306238-6 gnd Bahnplanung (DE-588)4267628-9 gnd Modulbauweise (DE-588)4125467-3 gnd Autonomes System (DE-588)4143713-5 gnd Selbst organisierendes System (DE-588)4054424-2 gnd Mehrrobotersystem (DE-588)4734038-1 gnd |
| topic_facet | Rekonfiguration Bahnplanung Modulbauweise Autonomes System Selbst organisierendes System Mehrrobotersystem Hochschulschrift |
| url | http://www.gbv.de/dms/tib-ub-hannover/756743257.pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027528362&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV035986646 |
| work_keys_str_mv | AT meistereugen adaptivelocomotionofmodularreconfigurableroboticsystems |
There is no print copy available.
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