Tesi etd-09122014-143932 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
DELLA SANTINA, COSIMO
URN
etd-09122014-143932
Titolo
A new algorithm for natural movements of variable stiffness robots
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Bicchi, Antonio
Parole chiave
- Motor Control
- Robot
- Variable Stiffness
Data inizio appello
03/10/2014
Consultabilità
Completa
Riassunto
The purpose of this work is to design a model-free algorithm capable to control a nonlinear unknown system, such as qbmoves system taking inspiration from how the central nervous system manages the muscular-scheletric system according to SOA Motor Control Theories.
Understand how CNS works is a open problem yet, and no univocal theory exists (e.g. internal model vs. equilibrium point).
Rather then trying to replicate an unknown structure, in this work it is discussed how to replicate the CNS functionality, where exists objective data largely accepted.
This work will be done both for nonlinearity (dynamic inversion) and DoF problem, on two level of control.
The behaviors we want to replicate will be presented afterwards.
Understand how CNS works is a open problem yet, and no univocal theory exists (e.g. internal model vs. equilibrium point).
Rather then trying to replicate an unknown structure, in this work it is discussed how to replicate the CNS functionality, where exists objective data largely accepted.
This work will be done both for nonlinearity (dynamic inversion) and DoF problem, on two level of control.
The behaviors we want to replicate will be presented afterwards.
File
| Nome file | Dimensione |
|---|---|
| Cosimo_D...lides.pdf | 4.01 Mb |
| Cosimo_D..._Tesi.pdf | 2.96 Mb |
| Cosimo_D..._Tesi.pdf | 5.01 Mb |
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