Geometric optimization of a self-adaptive robotic leg
نویسندگان
چکیده
منابع مشابه
RELIABILITY-BASED DESIGN OPTIMIZATION OF COMPLEX FUNCTIONS USING SELF-ADAPTIVE PARTICLE SWARM OPTIMIZATION METHOD
A Reliability-Based Design Optimization (RBDO) framework is presented that accounts for stochastic variations in structural parameters and operating conditions. The reliability index calculation is itself an iterative process, potentially employing an optimization technique to find the shortest distance from the origin to the limit-state boundary in a standard normal space. Monte Carlo simulati...
متن کاملGeometric Optimization Methods for Adaptive Filtering
The techniques and analysis presented in this thesis provide new methods to solve optimization problems posed on Riemannian manifolds. These methods are applied to the subspace tracking problem found in adaptive signal processing and adaptive control. A new point of view is offered for the constrained optimization problem. Some classical optimization techniques on Euclidean space are generalize...
متن کاملinvestigating the feasibility of a proposed model for geometric design of deployable arch structures
deployable scissor type structures are composed of the so-called scissor-like elements (sles), which are connected to each other at an intermediate point through a pivotal connection and allow them to be folded into a compact bundle for storage or transport. several sles are connected to each other in order to form units with regular polygonal plan views. the sides and radii of the polygons are...
Dynamic modeling and control of a 4 DOF robotic finger using adaptive-robust and adaptive-neural controllers
In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...
متن کاملRoboleg: A Robotic Soccer-Ball Kicking Leg
This paper presents the analysis, design and experimental results of a development program for a robotic leg to be used to kick soccer balls to evaluate new shoe and ball designs for the sport of soccer. The motivation is to be seen in the ability to reproduce and vary kicks reliably to allow more accurate evaluation of new shoe and ball designs without the use of extensive human-kick data sets...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Transactions of the Canadian Society for Mechanical Engineering
سال: 2018
ISSN: 0315-8977
DOI: 10.1139/tcsme-2017-0010