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Optimal Design Methods for Increasing Power Performance of Multiactuator Robotic Limbs


Abstract In order for assistive mobile robots to operate in the same environment as humans, they must be able to navigate the same obstacles as humans do. Many elements are required to do this: a powerful controller which can understand the obstacle, and power-dense actuators which will be able to achieve the necessary limb accelerations and output energies. Rapid growth in information technology has made complex controllers, and the devices which run them considerably light and cheap. The energy density of batteries, motors, and engines has not grown nearly as fast. This is problematic because biological systems are more agile, and more efficient than robotic systems. This dissertation introduces design methods which may be used optimize a multiact... (more)
Created Date 2017
Contributor Cahill, Nathan Michael (Author) / Sugar, Thomas (Advisor) / Ren, Yi (Advisor) / Holgate, Matthew (Committee member) / Berman, Spring (Committee member) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Subject Robotics / Biologically Inspired / Legged Robot / Mechanism / Optimization / Parallel Mechanism
Type Doctoral Dissertation
Extent 196 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note Doctoral Dissertation Mechanical Engineering 2017
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis