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Adaptive Central Pattern Generators for Control of Tensegrity Spines with Many Degrees of Freedom

Mirletz, Brian Tietz
http://orcid.org/0000-0003-0945-6007
http://rave.ohiolink.edu/etdc/view?acc_num=case1438865567

Abstract Details

2016, Doctor of Philosophy, Case Western Reserve University, EMC - Mechanical Engineering.
This work seeks to advance understanding of how to construct and control tensegrity spines: highly compliant robots with many degrees of freedom inspired by biological spines. Tensegrity describes systems of rigid bodies stabilized by cables, where on a simulated twelve segment robot up to 72 degrees of freedom require constraints or control. To coordinate the high number of actuators, central pattern generator (CPG) based controllers provide goal directed, adaptive trajectories for movement on rough terrain. As a result, this work details, to the author's knowledge, the first CPG based robotic control capable of goal directed locomotion on rough terrain. This control scheme is implemented on four different tensegrity spine designs. Prior to this work, tensegrity spines were passive, hand constructed models; the open source NASA Tensegrity Robotics Toolkit (NTRT) was created to develop robots inspired by these and other tensegrity models using physics based simulation. This work also discusses the development and implementation within NTRT of a cable model with contact dynamics and realistic forces. Finally, the simulations are validated against the forces measured in the hardware implementation of a three segment tensegrity spine robot.
Roger Quinn (Advisor)
Kiju Lee (Committee Member)
Joeseph Prahl (Committee Member)
M. Cenk Çavusoglu (Committee Member)
144 p.
Mechanical Engineering; Robotics; Robots
Tensegrity; Central Pattern Generators; Robotics; Robots; Compliance; Impedance Control; Biologically Inspired Robots; Spines; Distributed Control; Machine Learning; Monte Carlo

Recommended Citations

Citations

  • Mirletz, B. T. (2016). Adaptive Central Pattern Generators for Control of Tensegrity Spines with Many Degrees of Freedom [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1438865567

    APA Style (7th edition)

  • Mirletz, Brian. Adaptive Central Pattern Generators for Control of Tensegrity Spines with Many Degrees of Freedom. 2016. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1438865567.

    MLA Style (8th edition)

  • Mirletz, Brian. "Adaptive Central Pattern Generators for Control of Tensegrity Spines with Many Degrees of Freedom." Doctoral dissertation, Case Western Reserve University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=case1438865567

    Chicago Manual of Style (17th edition)

case1438865567
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© 2015, some rights reserved.Creative Commons License Adaptive Central Pattern Generators for Control of Tensegrity Spines with Many Degrees of Freedom by Brian Tietz Mirletz is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.