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Software and control design for the MIT Cheetah quadruped robots
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Control and Design of Snake Robots
Snake robots are ideally suited to highly confined environments because their small cross-sections and highly redundant kinematics allow them to enter and move through tight spaces with a high degree of dexterity. Despite these theoretical advantages, snake robots also pose a number of practical challenges that have limited their usefulness in the field. These challenges include the need to coordinate a large number of degrees of freedom, decreased system reliability due to the serially chained nature of the robot’s design, and the complex interaction of the robot’s shape with the world. This thesis makes progress towards addressing these issues with two main areas of contribution. In the first part, we provide tools for supportive autonomy in snake robots. To provide intuitive high-level autonomous behaviors, we extend our lab’s existing gait-based control framework to develop gait-based compliant control. To reliably and accurately sense the robot’s pose and shape we present new techniques for robust state estimation that leverage the redundancies in the distributed sensing capabilities of our group’s articulated snake robots. To demonstrate these contributions in a practical application, we use them to enable a snake robot to navigate a real-world underground pipe network. One of the most limiting characteristics of our snake robots (and robots in general) is the inability to precisely sense and control the torques and forces of their actuators. As such, the second part of this thesis focuses on the design and control of a new series-elastic actuated snake robot that incorporates a high performance series-elastic actuator (SEA) and torque control. After describing the novel design of the SEA, we discuss our perspective on how to incorporate torque control and series elasticity into snake robots. Finally, we demonstrate prototypes of new low impedance motions for snake robots. These motions naturally comply to obstacles and unstructured terrain, and open a new avenue of research for snake robot locomotion.
Degree Type
- Dissertation
- Robotics Institute
Degree Name
- Doctor of Philosophy (PhD)
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- Adaptive Agents and Intelligent Robotics
Dissertations and Theses
Dissertations.
Dissertations done in conjunction with this lab are all published with the ASU Library system.
| 14. | Kevin P. Timms, “A novel engineering approach to modelling and optimizing smoking cessation interventions, “Ph.D., Biological Design, 2014. | |
| 13. | Yuwen Dong, “A novel control engineering approach to designing and optimizing adaptive sequential behavioral interventions, Ph.D., Chemical Engineering, 2014. | |
| 12. | Sunil Deshpande, “Optimal input signal design for data-centric identification and control with applications to behavioral health and medicine,” Ph.D., Electrical Engineering, 2014. | |
| 11. | Richard Steenis, “Plant-friendly input signal design for system identification and robust control performance,” Ph.D., Electrical Engineering, 2009. | |
| 10. | Jay D. Schwartz, “Next generation supply chain management: control, optimization, and system identification,” Ph.D., Chemical Engineering, 2008. | |
| 9. | Kevin Roche, “Capacity planning and decision support methodologies in healthcare: a queueing and control-theory based approach,” Ph.D., Industrial Engineering, 2006. | |
| 8. | Hyunjin Lee, “A plant-friendly multivariable system identification framework based on identification test monitoring,” Ph.D., Chemical Engineering, 2006. | |
| 7. | Wenlin Wang, “Model predictive control strategies for supply chain management in semiconductor manufacturing,” Ph.D., Chemical Engineering, 2006. | |
| 6. | Martin William Braun, “Model-on-demand nonlinear estimation and model predictive control: Novel methodologies for process control and supply chain management,” Ph.D., Chemical Engineering, 2001. | |
| 5. | Srinivas Adusumilli, “Novel methodologies for integrated identification and robust process control,” Ph.D., Chemical Engineering, 1999. | |
| 4. | Felipe de Jesus Vargas Villamil, “Hierarchical production optimization and inventory control of semiconductor reentrant manufacturing lines,” Ph.D., Chemical Engineering, 1999 . | |
| 3. | Wei-Ming Ling, “Control-oriented modeling of nonlinear process systems,” Ph.D., Chemical Engineering, December 1997. | |
| 2. | Sujit V. Gaikwad, “Control Relevant Identification of Multivariate Systems in the Chemical Process Industries,” Ph.D., Chemical Engineering, December 1996. | |
| 1. | Kyoung-Shik Jun, “Control-Relevant Identification Methodology with Application to a High-Purity Distillation Column,” Ph.D., Chemical Engineering, August, 1995. |
Masters Theses
- Sunil Deshpande, “A control engineering approach for designing an optimized treatment plan for fibromyalgia,” M.S., May, 2011.
- Jay D. Schwartz,”Stochastic Optimization and System Identification for Next-Generation Supply Chain Management,” M.S.E., May, 2007.
- Wenlin Wang, “Model Predictive Control Strategies for Supply Chain Management in Semiconductor Manufacturing.” M.S.E, December, 2004.
- Martin W. Braun, “Model-on-Demand Model Predictive Control for Nonlinear Process Systems,” M.S.E., May, 2001.
- Raul Ortiz-Mojica,” Minimum Crest Factor Input Design for Plant-Friendly Identification of Process Systems,” M.S., August 2000.
- Shan Zong, “Minimal Crest Factor Input Signal Design and Frequency-Domain Curvefitting for Control-Relevant Identification,” M.S., December 1997.
- Wei-Ming Ling, “Modeling Strategies for Model-Based Process Control,” M.S.E. (Masters in Passing), May, 1996.
- Xiangqin Chen, “Experimental Design for Robust Process Control Using Schroeder-Phased Input Signals,” M.S., May, 1995.
- Abhijit P. Desai,”Towards the Development of Intelligent Process Control Strategies,” M.S., December 1994.
- Saurabh Bhatnagar, Thesis title: “Iterative Restricted Complexity Modeling via Closed-Loop Identification ” M.S., December, 1993.
- Manoj K. Shetty, “Development of an Instructional Control Systems Engineering Lab Using the TDC 3000 System,” M.S., December, 1993
- Sujit V. Gaikwad, “Advanced process control for distributed control systems via reduced-order controllers,” M.S., May, 1993.
- Emrod Elisante,”Robustness and identification issues in Horizon Predictive Control with Application to a Binary Distillation Column.,” M.S., May, 1992.
PID Control, Design, Extension, Application
- Department of Automatic Control
Research output : Thesis › Doctoral Thesis (compilation)
| Original language | English |
|---|---|
| Qualification | Doctor |
| Awarding Institution | |
| Supervisors/Advisors | , Supervisor , Assistant supervisor |
| Award date | 2000 Feb 24 |
| Publisher | |
| Publication status | Published - 2000 |
Bibliographical note
Subject classification (ukä).
- Control Engineering
Free keywords
- control engineering
- PID control. Design. Optimization. Load disturbance rejection. Measurement noise filtering. Set point response. Robustness. Sensitivity. H-infinity control. Undamped process modes. Active control. Allpass and bandpass filter. Evaluation. Steam generator. Pulp and paper.
- Automatiska system
- robotteknik
- reglerteknik
Access to Document
- pan00dis Final published version, 4.52 MB
Fingerprint
- Design Method Engineering 100%
- Control Design Engineering 100%
- Closed Loop Systems Chemical Engineering 100%
- Water Level Chemical Engineering 100%
- Control System Engineering 50%
- Transfer Function Engineering 50%
- Performance Engineering 25%
- Models Engineering 25%
T1 - PID Control, Design, Extension, Application
AU - Panagopoulos, Helene
N1 - Defence details Date: 2000-02-24 Time: 10:15 Place: Room M:A, building M, Lund Institute of Technology, Lund, Sweden External reviewer(s) Name: Hjalmarsson, H. Title: [unknown] Affiliation: Associate Professor, Department of Automatic Control, Royal Institute of Technology, Stockholm, Sweden ---
N2 - This thesis considers the design of PID controllers, the extensions of these controllers to improve their performance, and the applications of these design methods to industrial processes. New tuning methods for PI and PID controllers have been presented. These methods uses a model of the process to be controlled, given as a transfer function. The methods captures essential requirements of a control system, such as: load disturbance response, robustness with respect to model uncertainties, measurement noise response, set point response. The primary design goal of the proposed design methods are to achieve good rejection of a load disturbance with the constraint on robustness to guarantee the stability of the closed loop system. The use of PID control have been extended to bridge the gap between it and the theoretical H-infinity control. It is shown how the robustness constraint of the proposed design methods for PI and PID controllers should be chosen to guarantee that the weighted H-infinity norm of the transfer function from load and measurement disturbance to process inputs and outputs is less than a specified value gamma. A new way to determine for which class of systems a PID controller will be stabilizing is also presented. Furthermore, the use of PID control have been extended to handle processes with undamped modes. A modular approach has been taken, where an active control system has been designed, which consists of an allpass filter and a bandpass filter. To determine the parameters of these two filters the only information needed is a few characteristics of the process frequency response. The proposed design methods for PI and PID controllers have been evaluated in a benchmark for control of steam generator water level in a power plant, and at the pulp and paper company Modo Paper, in Husum, Sweden.
AB - This thesis considers the design of PID controllers, the extensions of these controllers to improve their performance, and the applications of these design methods to industrial processes. New tuning methods for PI and PID controllers have been presented. These methods uses a model of the process to be controlled, given as a transfer function. The methods captures essential requirements of a control system, such as: load disturbance response, robustness with respect to model uncertainties, measurement noise response, set point response. The primary design goal of the proposed design methods are to achieve good rejection of a load disturbance with the constraint on robustness to guarantee the stability of the closed loop system. The use of PID control have been extended to bridge the gap between it and the theoretical H-infinity control. It is shown how the robustness constraint of the proposed design methods for PI and PID controllers should be chosen to guarantee that the weighted H-infinity norm of the transfer function from load and measurement disturbance to process inputs and outputs is less than a specified value gamma. A new way to determine for which class of systems a PID controller will be stabilizing is also presented. Furthermore, the use of PID control have been extended to handle processes with undamped modes. A modular approach has been taken, where an active control system has been designed, which consists of an allpass filter and a bandpass filter. To determine the parameters of these two filters the only information needed is a few characteristics of the process frequency response. The proposed design methods for PI and PID controllers have been evaluated in a benchmark for control of steam generator water level in a power plant, and at the pulp and paper company Modo Paper, in Husum, Sweden.
KW - control engineering
KW - PID control. Design. Optimization. Load disturbance rejection. Measurement noise filtering. Set point response. Robustness. Sensitivity. H-infinity control. Undamped process modes. Active control. Allpass and bandpass filter. Evaluation. Steam generator.
KW - robotics
KW - Automation
KW - Automatiska system
KW - robotteknik
KW - reglerteknik
M3 - Doctoral Thesis (compilation)
T3 - PhD Thesis TFRT-1059
PB - Department of Automatic Control, Lund Institute of Technology (LTH)
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Characterization of friction within a novel 3 mm wristed robotic instrument.
1. Introduction
1.1. motivation and significance, 1.2. literature review, 2. materials and methods, 2.1. experiment setup, 2.2. data collection and processing, 4. discussion, 4.1. significance of friction, 4.2. comparing the 3 mm tool with the 5 mm tool, 4.3. limitations of study, 4.4. significance of cable wear, 5. conclusions, author contributions, data availability statement, conflicts of interest.
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Click here to enlarge figure
| Parameter | Value |
|---|---|
| r | 1.35 mm |
| l | 7.95 mm |
| 10.27 N | |
| 30.24 N |
| Parameter | 3 mm | 5 mm |
|---|---|---|
| Payload (g) | 150 | 200 |
| Cable diameter (mm) | 0.23 | 0.27 |
| Max cable-tension increase (%) | 66.1 | 97.7 |
| Links tested | 1.2 | 1 |
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Share and Cite
Ho, C.; Looi, T.; Maguire, G.; Podolsky, D.J. Characterization of Friction within a Novel 3 mm Wristed Robotic Instrument. Actuators 2024 , 13 , 326. https://doi.org/10.3390/act13090326
Ho C, Looi T, Maguire G, Podolsky DJ. Characterization of Friction within a Novel 3 mm Wristed Robotic Instrument. Actuators . 2024; 13(9):326. https://doi.org/10.3390/act13090326
Ho, Caitlin, Thomas Looi, Glenn Maguire, and Dale J. Podolsky. 2024. "Characterization of Friction within a Novel 3 mm Wristed Robotic Instrument" Actuators 13, no. 9: 326. https://doi.org/10.3390/act13090326
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- Corpus ID: 22505233
Modelling and Control System Design to control Water temperature in Heat Pump
- A. Salam , Mafizul Islam
- Published 2013
- Engineering, Environmental Science
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6 Citations
Modelling and simulation of heat pump systems for hybrid and electrical vehicles, analysis of cstr temperature control with pid, mpc & hybrid mpc-pid controller, implementation of fuzzy pid controller on hot air blower system, a comparative analysis for stabilize the temperature variation of a water body through fuzzy controller vs optimal regulator, design of unconstrained and constrained model predictive control for pneumatic actuator system: set-point tracking.
- Highly Influenced
Development of Modelling of Couple Tank System CE 105 Using ARX Method
47 references, control of a ground source heat pump using hybrid model predictive control, applications oriented input design for mpc: an analysis of a quadruple water tank process.
- Highly Influential
Application of Nonlinear PID Controller in Main Steam Temperature Control
Pid control of heat exchanger system, model predictive control of skeboå water system, non-linear constrained mpc: real-time implementation of greenhouse air temperature control, modelling and control of feed water systems in a pressurized water reactor, predictive functional control for the temperature control of a chemical batch reactor, liquid level control of nonlinear coupled tanks system using linear model predictive control, heat pump water heater control, related papers.
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Surgical robotic tools are being developed for a variety of surgical procedures that are executed within small workspaces. Novel designs of miniaturized cable-actuated surgical tools for cleft palate repair have previously been developed. However, the behavior and significance of friction within these tools are largely unknown. A study was conducted to investigate the friction in a pulleyless ...
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