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Dissertation/Thesis Abstract

The mechanics and control of robotic systems exploiting viscous phenomena for planar locomotion
by Hassing, Peter Mikael, Ph.D., The University of North Carolina at Charlotte, 2015, 171; 3711610
Abstract (Summary)

Viscous phenomena can be used to aid in the locomotion and control of robotic systems. With the aid of Lagrangian reduction techniques, it is shown that dissipation can be used to model nonholonomic, holonomic, and kinematically constrained systems. This is shown theoretically, analytically, and numerically for a class of robotic systems. Using techniques from geometric mechanics, control problems for novel planar robots that incorporate nonholonomic constraints, dissipation, and geometric phase are explored. A robotic fish is introduced, and experiments demonstrate it can harvest energy from fluid vortices to assist in propulsion, consistent with geometric models in the literature. Experimental fluid vortices are also generated and characterized with the aid of particle image velocimetry.

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Indexing (document details)
Advisor: Kelly, Scott D.
Commitee: Chowdhury, Badrul, Keanini, Russell, Stylianou, Antonis, Tkacik, Peter
School: The University of North Carolina at Charlotte
Department: Mechanical Engineering
School Location: United States -- North Carolina
Source: DAI-B 76/11(E), Dissertation Abstracts International
Subjects: Mechanical engineering
Keywords: Geometric control, Geometric mechanics, Locomotion, Nonholonomic systems, Robotic fish, Viscous phenomena
Publication Number: 3711610
ISBN: 978-1-321-87923-0
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