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You searched for subject:(Robophysics). Showing records 1 – 3 of 3 total matches.

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Georgia Tech

1. Kingsbury, Mark A. A robophysics approach to bipedal walking in granular media.

Degree: PhD, Physics, 2016, Georgia Tech

Humanoid robots will need capabilities to traverse environments ranging from factory floors to disaster areas. However, most of today's devices fail when faced with more complex ground conditions such as loose sand. To uncover the principles of bipedal walking in complex environments and improve techniques for robotic locomotion, we took a "robophysics" approach. Robophysics stands at the intersection of robotics and physics where robots are used to uncover the underlying physics of a system and insights gained from experiments lead to improvements in real robots. We designed and studied a planarized bipedal robot (1.6 kg, 42 cm) that walked in a fluidized bed of poppy seeds. We additionally modeled this robot using the Chrono::Engine with empirical granular Resistive Force Theory (RFT). During the two foot interaction, one foot slipped through the material while the other remained stationary. This originated from the solid-like and fluid-like properties of granular media where the foot with higher predicted drag forces by RFT experience solid-like constraint forces while the other foot yielded through the fluid-like material. We applied these findings to a human scale humanoid robot, HUBO. While traditional strategies for walking on hard ground failed in loose material, the HUBO robot walked successfully and without slip in granular media with a terrain-aware gait. Advisors/Committee Members: Goldman, Daniel I. (advisor), Wiesenfeld, Kurt (committee member), Curtis, Jennifer (committee member), Schatz, Michael (committee member), Vela, Patricio (committee member).

Subjects/Keywords: Robophysics; Bipedal

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APA (6th Edition):

Kingsbury, M. A. (2016). A robophysics approach to bipedal walking in granular media. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/55581

Chicago Manual of Style (16th Edition):

Kingsbury, Mark A. “A robophysics approach to bipedal walking in granular media.” 2016. Doctoral Dissertation, Georgia Tech. Accessed October 16, 2019. http://hdl.handle.net/1853/55581.

MLA Handbook (7th Edition):

Kingsbury, Mark A. “A robophysics approach to bipedal walking in granular media.” 2016. Web. 16 Oct 2019.

Vancouver:

Kingsbury MA. A robophysics approach to bipedal walking in granular media. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2019 Oct 16]. Available from: http://hdl.handle.net/1853/55581.

Council of Science Editors:

Kingsbury MA. A robophysics approach to bipedal walking in granular media. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/55581


Georgia Tech

2. Warkentin, Ross James. Design of robotic platforms to model confined active matters.

Degree: MS, Mechanical Engineering, 2017, Georgia Tech

The abstraction of agents acting in environments is a common method used to simplify and reduce complex systems into more manageable pieces which can in turn be broken down, recursively iterating until a sufficient understanding has been developed which can describe the original system. The subject of this thesis focuses on the development and use robotic platforms which abstract two unique systems of active granular matter. The first system is inspired by biological observations made while studying colonies of the species Solenopsis invicta, commonly known as the fire ant. Colonies of fire ants build shelters by excavating extensive tunnel networks underground, though not all members of the colony participate in this nest construction equally. Hypotheses have been developed, and robotic implementations have been tested in the lab which have probed the effects of heterogeneous behavior distributions within a task-oriented ensemble, though the capabilities of the robots were found to be somewhat limited. A new robotic model with improved navigation and sensory capabilities was needed to further investigate the aspects of the fire ant ensembles which may inform and govern the individual agent behaviors in order to optimize the collective operation. Granular media are often investigated in the standard context of spherical, convex particles, though atypical, nonconvex particles have been demonstrated to exhibit interesting entanglement dynamics which demonstrate a rich and diverse physics which may be exploited by biological systems such as the assemblages of social insect assemblies. The second system discussed pertains to the development and use of another confined active matter composed of particles which phase between convex and nonconvex geometries. Advisors/Committee Members: Goldman, Daniel (advisor), Hu, David (advisor), Egerstedt, Magnus (committee member).

Subjects/Keywords: Active matter; Emergent dynamics; Robophysics; Swarm robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Warkentin, R. J. (2017). Design of robotic platforms to model confined active matters. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/60656

Chicago Manual of Style (16th Edition):

Warkentin, Ross James. “Design of robotic platforms to model confined active matters.” 2017. Masters Thesis, Georgia Tech. Accessed October 16, 2019. http://hdl.handle.net/1853/60656.

MLA Handbook (7th Edition):

Warkentin, Ross James. “Design of robotic platforms to model confined active matters.” 2017. Web. 16 Oct 2019.

Vancouver:

Warkentin RJ. Design of robotic platforms to model confined active matters. [Internet] [Masters thesis]. Georgia Tech; 2017. [cited 2019 Oct 16]. Available from: http://hdl.handle.net/1853/60656.

Council of Science Editors:

Warkentin RJ. Design of robotic platforms to model confined active matters. [Masters Thesis]. Georgia Tech; 2017. Available from: http://hdl.handle.net/1853/60656

3. Qian, Feifei. Towards a terradynamics of legged locomotion on homogeneous and Heterogeneous granular media through robophysical approaches.

Degree: PhD, Electrical and Computer Engineering, 2015, Georgia Tech

The objective of this research is to discover principles of ambulatory locomotion on homogeneous and heterogeneous granular substrates and create models of animal and robot interaction within such environments. Since interaction with natural substrates is too complicated to model, we take a robophysics approach – we create a terrain generation system where properties of heterogeneous multi-component substrates can be systematically varied to emulate a wide range of natural terrain properties such as compaction, orientation, obstacle shape/size/distribution, and obstacle mobility within the substrate. A schematic of the proposed system is discussed in detail in the body of this dissertation. Control of such substrates will allow for the systematic exploration of parameters of substrate properties, particularly substrate stiffness and heterogeneities. With this terrain creation system, we systematically explore locomotor strategies of simplified laboratory robots when traversing over different terrain properties. A key feature of this proposed work is the ability to generate general interaction models of locomotor appendages with such complex substrates. These models will aid in the design and control of future robots with morphologies and control strategies that allow for effective navigation on a large diversity of terrains, expanding the scope of terramechanics from large tracked and treaded vehicles on homogeneous ground to arbitrarily shaped and actuated locomotors moving on complex heterogeneous terrestrial substrates. Advisors/Committee Members: Howard, Ayanna M. (advisor), Goldman, Daniel I. (advisor), Wiesenfeld, Kurt (committee member), Vela, Patricio (committee member), Sponberg, Simon (committee member), Christensen, Henrik I. (committee member), Full, Robert J. (committee member).

Subjects/Keywords: Robot; Bio-inspired; Locomotion; Granular media; Robophysics

…interactions with natural substrates were too complicated to model, this work took a robophysics… …terrains. We call this approach “locomotion robophysics” [3], an approach that searches… …and technical basis of this dissertation. 1.2 Robophysics – An Intersection of Engineering… …robophysics”, complementing the traditional control and learning methods, has emerged to aid robot… …mobility. Robophysics is an approach that obtains a fundamental understanding of the general… 

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Qian, F. (2015). Towards a terradynamics of legged locomotion on homogeneous and Heterogeneous granular media through robophysical approaches. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/54421

Chicago Manual of Style (16th Edition):

Qian, Feifei. “Towards a terradynamics of legged locomotion on homogeneous and Heterogeneous granular media through robophysical approaches.” 2015. Doctoral Dissertation, Georgia Tech. Accessed October 16, 2019. http://hdl.handle.net/1853/54421.

MLA Handbook (7th Edition):

Qian, Feifei. “Towards a terradynamics of legged locomotion on homogeneous and Heterogeneous granular media through robophysical approaches.” 2015. Web. 16 Oct 2019.

Vancouver:

Qian F. Towards a terradynamics of legged locomotion on homogeneous and Heterogeneous granular media through robophysical approaches. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2019 Oct 16]. Available from: http://hdl.handle.net/1853/54421.

Council of Science Editors:

Qian F. Towards a terradynamics of legged locomotion on homogeneous and Heterogeneous granular media through robophysical approaches. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/54421

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