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Thesis
Soft tools for robotics and controls implementations
Master of Science (M.S.), Drexel University
Jun 2011
DOI:
https://doi.org/10.17918/etd-3738
Abstract
Engineers' abilities to design and construct electro-mechanical systems have reached the point where humanoid, quadruped, hexapod, and other comparably complex robots are now physically realizable. This thesis argues that while the mathematical tools to control such systems exist, the software tools required to implement such controls are lacking. To fill this gap a state based software abstraction, in which the robot is conceptualized in terms of its mathematical states instead of in terms of the sensor/actuator properties, is proposed. To test the effectiveness of this representation, two programs have been created that adhere to its ideal. The first is a high level, system-of-systems approach that leverages existing robotics development tools to obtain a more intuitive interface through the state representation. The second is a low level tool that provides a similar representation for the peripheral collection on micro controllers. This document describes both the design of each system and the testing done to verify its technical correctness. Applications to large scale test systems such as the Hubo humanoid robot are also described. Additionally, scaling experiments between various sized humanoid robots are used to demonstrate the flexibility of the state based approach.
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Details
- Title
- Soft tools for robotics and controls implementations
- Creators
- Robert M. Sherbert - DU
- Contributors
- Paul Yu Oh (Advisor) - Drexel University (1970-)
- Awarding Institution
- Drexel University
- Degree Awarded
- Master of Science (M.S.)
- Publisher
- Drexel University; Philadelphia, Pennsylvania
- Resource Type
- Thesis
- Language
- English
- Academic Unit
- College of Engineering (1970-2026); Electrical (and Computer) Engineering [Historical]; Drexel University
- Other Identifier
- 3738; 991014632279704721