Thesis etd-09122014-143932 |
Link copiato negli appunti
Thesis type
Tesi di laurea magistrale
URN
etd-09122014-143932
Thesis title
A new algorithm for natural movements of variable stiffness robots
Department
INGEGNERIA DELL'INFORMAZIONE
Course of study
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
.
relatore Prof. Bicchi, Antonio
Keywords
- Motor Control
- Robot
- Variable Stiffness
Graduation session start date
03/10/2014
Availability
Full
Abstract (Inglese)
Abstract (Italiano)
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 |
Contatta l’autore |
|