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Dynamic Simulation and Control of Articulated Limbs


Mitchell, Marcus Quintana (2009) Dynamic Simulation and Control of Articulated Limbs. Dissertation (Ph.D.), California Institute of Technology. doi:10.7907/2FAM-6A26.


Many useful mechanisms can be modelled as articulated systems: collections of rigid bodies linked together with joints that constrain relative movement. The two parts of this thesis study the complementary problems of simulation and control for such systems. In the first part, we describe an implementation and extension of a physically based modelling framework known as "dynamic constraints" in which forces of constraint linking bodies in an articulated system are explicitly calculated. In addition to identifying some important robustness and stability issues for these calculations, we extend the framework to systems whose internal degrees of freedom can be directly parameterized. This permits significant efficiency gains for mechanisms which model limbs. The second part of the thesis centers on the adaptive control of limb configuration through simulated actuators. In this problem, the nonlinear structure and parametric details of a limb are assumed to be unknown. We present and illustrate the performance of an adaptive scheme which performs considerably better than conventional nonadaptive techniques, and which is competitive with adaptive methods which use more a priori knowledge of limb dynamics.

Item Type:Thesis (Dissertation (Ph.D.))
Subject Keywords:adaptive limb control; energy methods; mixture models; robotics
Degree Grantor:California Institute of Technology
Division:Engineering and Applied Science
Major Option:Computation and Neural Systems
Thesis Availability:Public (worldwide access)
Research Advisor(s):
  • Hopfield, John J.
Thesis Committee:
  • Abu-Mostafa, Yaser S. (chair)
  • Barr, Alan H.
  • Burdick, Joel Wakeman
  • Hopfield, John J.
Defense Date:2 October 1996
Funding AgencyGrant Number
Record Number:CaltechETD:etd-02162009-054828
Persistent URL:
Default Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:647
Deposited By: Imported from ETD-db
Deposited On:16 Mar 2009
Last Modified:26 Nov 2019 19:15

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