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Adaptive Control Strategies in Syste...

Lee, Sebastian David,

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Adaptive Control Strategies in Systems With Nonprehensile Grippers /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Adaptive Control Strategies in Systems With Nonprehensile Grippers // Sebastian David Lee.
Author:	Lee, Sebastian David,
Description:	1 electronic resource (99 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 86-03, Section: B.
Contained By:	Dissertations Abstracts International86-03B.
Subject:	Mechanical engineering. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=31491194
ISBN:	9798384448181

Adaptive Control Strategies in Systems With Nonprehensile Grippers /
Lee, Sebastian David,

Adaptive Control Strategies in Systems With Nonprehensile Grippers /Sebastian David Lee. - 1 electronic resource (99 pages)

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

This dissertation investigates adaptive control strategies for nonprehensile gripper contact in two distinct embodied systems: squirrels landing on branches and a suction cup haptically searching surfaces. Central to this work is the concept of embodied dexterity - the integration of morphological computation with adaptive control. Morphological computation leverages the body's design to assist in task execution, while adaptive control uses sensory input for real-time adjustments. Embodied dexterity is what enables agents to effectively interact with the physical world, where effective contact is crucial and varies with grasp type. Prehensile grasps for example, where the gripper wraps around the substrate, can rely on form closure, reducing the need for friction. However, nonprehensile grasps, necessary when the substrate is larger than the gripper, depend on high squeeze or suction forces for force closure, posing challenges in achieving contact stability.The following studies highlight how positioning errors in grasping tasks can be dynamically compensated for by leveraging the physical design and sensory feedback of embodied agents, whether biological or robotic. I first present work on the biomechanics of squirrels landing on branches, examining their adaptive landing strategies. This includes their rapid forelimb dynamics to manage landing forces and torques. I also briefly introduce a squirrel-inspired gripper design. Next, I introduce the Smart Suction Cup and demonstrate how two tasks were accomplished with two different control algorithms. The first algorithm enhances grasping success on challenging surfaces by leveraging haptic signals, while the second enables contour-following.

English

ISBN: 9798384448181Subjects--Topical Terms:

649730
Mechanical engineering.
Subjects--Index Terms:

Sensory feedback

Adaptive Control Strategies in Systems With Nonprehensile Grippers /
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520 $a This dissertation investigates adaptive control strategies for nonprehensile gripper contact in two distinct embodied systems: squirrels landing on branches and a suction cup haptically searching surfaces. Central to this work is the concept of embodied dexterity - the integration of morphological computation with adaptive control. Morphological computation leverages the body's design to assist in task execution, while adaptive control uses sensory input for real-time adjustments. Embodied dexterity is what enables agents to effectively interact with the physical world, where effective contact is crucial and varies with grasp type. Prehensile grasps for example, where the gripper wraps around the substrate, can rely on form closure, reducing the need for friction. However, nonprehensile grasps, necessary when the substrate is larger than the gripper, depend on high squeeze or suction forces for force closure, posing challenges in achieving contact stability.The following studies highlight how positioning errors in grasping tasks can be dynamically compensated for by leveraging the physical design and sensory feedback of embodied agents, whether biological or robotic. I first present work on the biomechanics of squirrels landing on branches, examining their adaptive landing strategies. This includes their rapid forelimb dynamics to manage landing forces and torques. I also briefly introduce a squirrel-inspired gripper design. Next, I introduce the Smart Suction Cup and demonstrate how two tasks were accomplished with two different control algorithms. The first algorithm enhances grasping success on challenging surfaces by leveraging haptic signals, while the second enables contour-following.
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653 $a Haptic signals
653 $a Squirrels
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