Skip to Main Content
 

Global Search Box

 
 
 
 

Files

File List


Kandhari_Dissertation.pdf (8.38 MB)

ETD Abstract Container

Abstract Header

Control and Analysis of Soft Body Locomotion on a Robotic Platform

Kandhari, Akhil
http://orcid.org/0000-0001-6418-1777
http://rave.ohiolink.edu/etdc/view?acc_num=case1579793861351961

Abstract Details

2020, Doctor of Philosophy, Case Western Reserve University, EMC - Mechanical Engineering.
Earthworms locomote using traveling waves of segment contraction and expansion, which when symmetric, result in straight-line locomotion and when biased result in turning. The mechanics of the soft body permit a large range of possible body shapes which both comply with the environment and contribute to directed locomotion. Inspired by earthworms, a new platform: Compliant Modular Mesh Worm robot (CMMWorm) is presented to study this type of locomotion. Using this platform as the basis for evaluation, I show that locomotion efficiency is sensitive to body stiffness. Furthermore, using simplified beam theory, I demonstrate the power required for peristaltic locomotion is related to the geometrical properties, structural properties and gait pattern of the robot. The analyses of peristaltic locomotion demonstrate energetic losses to frictional slip is the key reason for loss of power efficiency. By representing segments as isosceles trapezoids with reasonable ranges of motion, I determine control waves that in simulation do not require slip. I apply the resulting control wave on our robotic platform that leads to a decrease in prediction error, improving kinematic motion prediction for planning. To mimic the ability of an earthworm to adapt to external perturbations, I equipped the CMMWorm with pressure and stretch sensors for improving locomotion efficiency in constrained environments. I show that using a closed-loop controller helps eliminate slip in constrained environments thereby increasing locomotion efficiency. These analyses can help in the development of design criteria and control for future soft robotic peristaltic devices.
Roger Quinn (Advisor)
Kathryn Daltorio (Advisor)
Hillel Chiel (Advisor)
Robert Gao (Committee Member)
214 p.
Biology; Biomechanics; Mechanical Engineering; Robotics; Robots
Worm-like robots, Soft robots, Robot control, Peristaltic locomotion

Recommended Citations

Citations

  • Kandhari, A. (2020). Control and Analysis of Soft Body Locomotion on a Robotic Platform [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1579793861351961

    APA Style (7th edition)

  • Kandhari, Akhil. Control and Analysis of Soft Body Locomotion on a Robotic Platform . 2020. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1579793861351961.

    MLA Style (8th edition)

  • Kandhari, Akhil. "Control and Analysis of Soft Body Locomotion on a Robotic Platform ." Doctoral dissertation, Case Western Reserve University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1579793861351961

    Chicago Manual of Style (17th edition)

case1579793861351961
548
© 2020, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.