Download or read book Mobility Testing written by Off-Road Mobility Research Symposium (1968 : Washington) and published by . This book was released on 1968 with total page 442 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Mobility Testing Proceedings of the Off road Mobility Research Symposium written by Cornell Aeronautical Laboratory and published by . This book was released on 1968 with total page 428 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Gait Optimization for Multi legged Walking Robots with Application to a Lunar Hexapod written by Daniel Chávez-Clemente and published by Stanford University. This book was released on 2011 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: The interest in using legged robots for a variety of terrestrial and space applications has grown steadily since the 1960s. At the present time, a large fraction of these robots relies on electric motors at the joints to achieve mobility. The load distributions inherent to walking, coupled with design constraints, can cause the motors to operate near their maximum torque capabilities or even reach saturation. This is especially true in applications like space exploration, where critical mass and power constraints limit the size of the actuators. Consequently, these robots can benefit greatly from motion optimization algorithms that guarantee successful walking with maximum margin to saturation. Previous gait optimization techniques have emphasized minimization of power requirements, but have not addressed the problem of saturation directly. This dissertation describes gait optimization techniques specifically designed to enable operation as far as possible from saturation during walking. The benefits include increasing the payload mass, preserving actuation capabilities to react to unforeseen events, preventing damage to hardware due to excessive loading, and reducing the size of the motors. The techniques developed in this work follow the approach of optimizing a reference gait one move at a time. As a result, they are applicable to a large variety of purpose-specific gaits, as well as to the more general problem of single pose optimization for multi-limbed walking and climbing robots. The first part of this work explores a zero-interaction technique that was formulated to increase the margin to saturation through optimal displacements of the robot's body in 3D space. Zero-interaction occurs when the robot applies forces only to sustain its weight, without squeezing the ground. The optimization presented here produces a swaying motion of the body while preserving the original footfall locations. Optimal displacements are found by solving a nonlinear optimization problem using sequential quadratic programming (SQP). Improvements of over 20% in the margin to saturation throughout the gait were achieved with this approach in simulation and experiments. The zero-interaction technique is the safest in the absence of precise knowledge of the contact mechanical properties and friction coefficients. The second part of the dissertation presents a technique that uses the null space of contact forces to achieve greater saturation margins. Interaction forces can significantly contribute to saturation prevention by redirecting the net contact force relative to critical joints. A method to obtain the optimal distribution of forces for a given pose via linear programming (LP) is presented. This can be applied directly to the reference gait, or combined with swaying motion. Improvements of up to 60% were observed in simulation by combining the null space with sway. The zero-interaction technique was implemented and validated on the All Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE), a hexapod robot developed by NASA for the transport of heavy cargo on the surface of the moon. Experiments with ATHLETE were conducted at the Jet Propulsion Laboratory in Pasadena, California, confirming the benefits predicted in simulation. The results of these experiments are also presented and discussed in this dissertation.
Download or read book Highway Research in Progress written by and published by . This book was released on 1971 with total page 1110 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Off road Mobility Research written by Cornell Aeronautical Laboratory and published by . This book was released on 1967 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book ICGG 2018 Proceedings of the 18th International Conference on Geometry and Graphics written by Luigi Cocchiarella and published by Springer. This book was released on 2018-07-06 with total page 2334 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gathers peer-reviewed papers presented at the 18th International Conference on Geometry and Graphics (ICGG), held in Milan, Italy, on August 3-7, 2018. The spectrum of papers ranges from theoretical research to applications, including education, in several fields of science, technology and the arts. The ICGG 2018 mainly focused on the following topics and subtopics: Theoretical Graphics and Geometry (Geometry of Curves and Surfaces, Kinematic and Descriptive Geometry, Computer Aided Geometric Design), Applied Geometry and Graphics (Modeling of Objects, Phenomena and Processes, Applications of Geometry in Engineering, Art and Architecture, Computer Animation and Games, Graphic Simulation in Urban and Territorial Studies), Engineering Computer Graphics (Computer Aided Design and Drafting, Computational Geometry, Geometric and Solid Modeling, Image Synthesis, Pattern Recognition, Digital Image Processing) and Graphics Education (Education Technology Research, Multimedia Educational Software Development, E-learning, Virtual Reality, Educational Systems, Educational Software Development Tools, MOOCs). Given its breadth of coverage, the book introduces engineers, architects and designers interested in computer applications, graphics and geometry to the latest advances in the field, with a particular focus on science, the arts and mathematics education.
Download or read book Proceedings of the ISTVS TRW Off Road Mobility Symposium written by International Society for Terrain-Vehicle Systems and published by . This book was released on 1971 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings of the Conference on the Design of Experiments in Army Research Development and Testing written by and published by . This book was released on 1968 with total page 540 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book A Preliminary Study of Seafloor Trafficability and Its Prediction written by K. W. Wiendieck and published by . This book was released on 1970 with total page 148 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Climbing and Walking Robots and the Support Technologies for Mobile Machines written by Phillippe Bidaud and published by John Wiley & Sons. This book was released on 2002-11-08 with total page 1080 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic technology advances for a wide variety of applications Climbing and Walking Robots and the Support Technologies for Mobile Machines explores the increasing interest in real-world robotics and the surge in research and invention it has inspired. Featuring the latest advances from leading robotics labs around the globe, this book presents solutions for perennial challenges in robotics and suggests directions for future research. With applications ranging from personal services and entertainment to emergency rescue and extreme environment intervention, the groundbreaking work presented here provides a glimpse of the future.
Download or read book Proceedings of the Seventh Asia International Symposium on Mechatronics written by Baoyan Duan and published by Springer Nature. This book was released on 2019-08-30 with total page 1034 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents high-quality papers from the Seventh Asia International Symposium on Mechatronics (AISM 2019). It discusses the latest technological trends and advances in electromechanical coupling and environmental adaptability design for electronic equipment, sensing and measurement, mechatronics in manufacturing and automation, micro-mechatronics, energy harvesting & storage, robotics, automation and control systems. It includes papers based on original theoretical, practical and experimental simulations, development, applications, measurements, and testing. The applications and solutions discussed here provide excellent reference material for future product developments.
Download or read book Proceedings of the ISTVS TRW Off road Mobility Symposium November 3 4 1970 Los Angeles written by International Society for Terrain Vehicle-Systems and published by . This book was released on 1970 with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings First North American Workshop on Modeling the Mechanics of Off Road Mobility 5 6 May 1994 written by Roger W. Meier and published by . This book was released on 1994 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Special Report written by and published by . This book was released on 1993 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Tripartite Working Group on Off Road Mobility Report on First Conference April 8th 15th 1959 written by Tripartite Working Group on Off-Road Mobility (1st : 1959) and published by . This book was released on 1959 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings of the ISTVS TRW Off Road Mobility Symposium November 3 4 1970 Los Angeles California written by and published by . This book was released on 1971* with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Proceedings of the ISTVS TRW Off road Mobility Symposium November 3 4 1970 Los Angeles Calif written by International Society for Terrain-Vehicle Systems and published by . This book was released on 1971* with total page 415 pages. Available in PDF, EPUB and Kindle. Book excerpt:
