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Multi-Modal Continuum Model-Based De...

Van Stratum, Brian,

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Multi-Modal Continuum Model-Based Design for Soft Robotics /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Multi-Modal Continuum Model-Based Design for Soft Robotics // Brian Van Stratum.
作者:	Van Stratum, Brian,
面頁冊數:	1 electronic resource (129 pages)
附註:	Source: Dissertations Abstracts International, Volume: 86-03, Section: B.
Contained By:	Dissertations Abstracts International86-03B.
標題:	Mechanical engineering. -
電子資源:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31329052
ISBN:	9798384047070

Multi-Modal Continuum Model-Based Design for Soft Robotics /
Van Stratum, Brian,

Multi-Modal Continuum Model-Based Design for Soft Robotics /Brian Van Stratum. - 1 electronic resource (129 pages)

Source: Dissertations Abstracts International, Volume: 86-03, Section: B.

Optimization of robot structures and control schemes remains challenging despite advances in computing and rapid prototyping technology. Nature provides numerous examples of locomotion through multiple modes, such as crawling, swimming, and even jumping. Swimming robots pose a particular challenge due to the high computation cost of modeling fluid interaction. I document a need for such models, then develop and validate a modeling paradigm computationally and in hardware. The paradigm is a computationally cheap method for modeling fluid interaction, using theories by M.J. Lighthill and combining them with beam theory. I validate the model's predictive power by comparing it with hardware results. Further, I demonstrate the model's utility by using it to co-optimize a control policy and tail morphology for a soft swimming climbing robot SLIDER.

English

ISBN: 9798384047070Subjects--Topical Terms:

649730
Mechanical engineering.
Subjects--Index Terms:

Robot SLIDER

Multi-Modal Continuum Model-Based Design for Soft Robotics /
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500 $a Source: Dissertations Abstracts International, Volume: 86-03, Section: B.
500 $a Advisors: Clark, Jonathan; Shoele, Kourosh Committee members: Hubicki, Christian; Ordóñez, Juan; Roberts, Rodney.
502 $b Ph.D. $c The Florida State University $d 2024.
520 $a Optimization of robot structures and control schemes remains challenging despite advances in computing and rapid prototyping technology. Nature provides numerous examples of locomotion through multiple modes, such as crawling, swimming, and even jumping. Swimming robots pose a particular challenge due to the high computation cost of modeling fluid interaction. I document a need for such models, then develop and validate a modeling paradigm computationally and in hardware. The paradigm is a computationally cheap method for modeling fluid interaction, using theories by M.J. Lighthill and combining them with beam theory. I validate the model's predictive power by comparing it with hardware results. Further, I demonstrate the model's utility by using it to co-optimize a control policy and tail morphology for a soft swimming climbing robot SLIDER.
546 $a English
590 $a School code: 0071
650 4 $a Mechanical engineering. $3 649730
650 4 $a Engineering. $3 586835
650 4 $a Fluid mechanics. $3 528155
650 4 $a Robotics. $3 519753
653 $a Robot SLIDER
653 $a Dynamics
653 $a Fluid structure interaction
653 $a Optimization
653 $a Soft robotics
690 $a 0548
690 $a 0537
690 $a 0204
690 $a 0771
710 2 $a The Florida State University. $b Mechanical Engineering. $e degree granting institution. $3 3829872
720 1 $a Clark, Jonathan $e degree supervisor.
720 1 $a Shoele, Kourosh $e degree supervisor.
773 0 $t Dissertations Abstracts International $g 86-03B.
790 $a 0071
791 $a Ph.D.
792 $a 2024
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31329052