The mechanics and control of robotic systems exploiting viscous phenomena for planar locomotion

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Hassing, P. (2015). The mechanics and control of robotic systems exploiting viscous phenomena for planar locomotion. Unc Charlotte Electronic Theses And Dissertations.
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Abstract

Viscous phenomena can be used to aid in the locomotion and control of robotic systems. With the aid of Lagrangian reduction techniques, it is shown that dissipation can be used to model nonholonomic, holonomic, and kinematically constrained systems. This is shown theoretically, analytically, and numerically for a class of robotic systems. Using techniques from geometric mechanics, control problems for novel planar robots that incorporate nonholonomic constraints, dissipation, and geometric phase are explored. A robotic fish is introduced, and experiments demonstrate it can harvest energy from fluid vortices to assist in propulsion, consistent with geometric models in the literature. Experimental fluid vortices are also generated and characterized with the aid of particle image velocimetry.

Details
Author

Hassing, Peter

Title

The mechanics and control of robotic systems exploiting viscous phenomena for planar locomotion

Physical Description

1 online resource (170 pages) : PDF

Date

2015

Degree Granting Institution

University of North Carolina at Charlotte

Abstract

Viscous phenomena can be used to aid in the locomotion and control of robotic systems. With the aid of Lagrangian reduction techniques, it is shown that dissipation can be used to model nonholonomic, holonomic, and kinematically constrained systems. This is shown theoretically, analytically, and numerically for a class of robotic systems. Using techniques from geometric mechanics, control problems for novel planar robots that incorporate nonholonomic constraints, dissipation, and geometric phase are explored. A robotic fish is introduced, and experiments demonstrate it can harvest energy from fluid vortices to assist in propulsion, consistent with geometric models in the literature. Experimental fluid vortices are also generated and characterized with the aid of particle image velocimetry.

Genre

doctoral dissertations

Subjects--Topics

Mechanical engineering

Degree

Ph.D.

Keywords

Geometric Control
Geometric Mechanics
Nonholonomic Systems
Robotic Fish
Viscous Phenomena

Subject Area

Mechanical Engineering

Advisor(s)

Kelly, Scott

Committee Members

Keanini, Russell
Tkacik, Peter
Chowdhury, Badrul
Stylianou, Antonis

Degree Note

Thesis (Ph.D.)--University of North Carolina at Charlotte, 2015.

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Rights Holder Information

Copyright is held by the author unless otherwise indicated.

Identifier

Hassing_uncc_0694D_10800

Permalink

http://hdl.handle.net/20.500.13093/etd:1190