Title:
System Dynamics-Based Mapping for Closed Loop Control
System Dynamics-Based Mapping for Closed Loop Control
| dc.contributor.author | Dixit, Anushri C. | |
| dc.contributor.committeeMember | Vela, Patricio | |
| dc.contributor.committeeMember | Verriest, Erik | |
| dc.contributor.department | Electrical and Computer Engineering | |
| dc.date.accessioned | 2017-07-28T18:32:42Z | |
| dc.date.available | 2017-07-28T18:32:42Z | |
| dc.date.created | 2017-05 | |
| dc.date.issued | 2017-05 | |
| dc.date.submitted | May 2017 | |
| dc.date.updated | 2017-07-28T18:32:42Z | |
| dc.description.abstract | This paper focuses on obstacle avoidance using the walking gait and vision. Inspiration for the gaits was drawn from behaviors found in nature as well as prior contributions in the field of robotic locomotion. A quadrupedal robotic platform was designed and fabricated to support these studies and experiments. The walking gait was implemented on the platform using inverse kinematics and a map was developed connecting the system dynamics to the extrinsic control parameters, namely, the stride length of the robot and the turn of each leg. The paper has implications in path planning for bio-inspired robots in rough terrains. The goal of the research is the synthesis and evaluation of increasingly dynamic quadrupedal locomotion gaits like walking, trotting, and hopping for navigation over unknown terrain. | |
| dc.description.degree | Undergraduate | |
| dc.format.mimetype | application/pdf | |
| dc.identifier.uri | http://hdl.handle.net/1853/58459 | |
| dc.language.iso | en_US | |
| dc.publisher | Georgia Institute of Technology | |
| dc.subject | Quadruped | |
| dc.subject | Walking gait | |
| dc.subject | Path planning | |
| dc.subject | Obstacle avoidance | |
| dc.subject | Closed loop control | |
| dc.subject | Optimization | |
| dc.subject | SNOPT | |
| dc.subject | Optragen | |
| dc.title | System Dynamics-Based Mapping for Closed Loop Control | |
| dc.type | Text | |
| dc.type.genre | Undergraduate Thesis | |
| dspace.entity.type | Publication | |
| local.contributor.corporatename | School of Electrical and Computer Engineering | |
| local.contributor.corporatename | College of Engineering | |
| local.contributor.corporatename | Undergraduate Research Opportunities Program | |
| local.relation.ispartofseries | Undergraduate Research Option Theses | |
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| relation.isSeriesOfPublication | e1a827bd-cf25-4b83-ba24-70848b7036ac | |
| thesis.degree.level | Undergraduate |