dc.contributor.advisor | Özcan, Onur | |
dc.contributor.author | Askari, Mohammad | |
dc.date.accessioned | 2018-09-18T07:00:01Z | |
dc.date.available | 2018-09-18T07:00:01Z | |
dc.date.copyright | 2018-09 | |
dc.date.issued | 2018-09 | |
dc.date.submitted | 2018-09-13 | |
dc.identifier.uri | http://hdl.handle.net/11693/47883 | |
dc.description | Cataloged from PDF version of article. | en_US |
dc.description | Thesis (M.S.): Bilkent University, Department of Mechanical, İhsan Doğramacı Bilkent University, 2018. | en_US |
dc.description | Includes bibliographical references (leaves 96-107). | en_US |
dc.description.abstract | Miniature or micro robotic platforms are perfect candidates for accomplishing
tasks such as inspection, surveillance, and hazardous environment exploration
where conventional macro robots fail to serve. Such applications require these
robots to potentially traverse uneven terrain, implying legged locomotion to be
suitable for their design. However, despite the recent advances in the nascent eld
of miniature robotics, the design and capabilities of these robots are very limited
as roboticists favor legged morphologies with low degrees of freedom. This limits
small robots to work with a single gait set during the design phase, as opposed to
legged creatures which bene t from e cient gait modi cation during locomotion.
MinIAQ, a 23 g origami-inspired miniature foldable quadruped with individually
actuated legs, is designed to address such limitations. The design of the robot is
unique in which a high structural integrity is achieved by transforming a single
exible thin sheet into a rigid mechanical system through folding. MinIAQ's
design novelties help modulate and extend the design standards of origami robots.
The actuation independency of MinIAQ enables gait modi cation and exhibits
maneuvering capabilities which is another novel quality for a robot at this scale.
The design of the compliant four-bar legs is optimized for better foot trajectory
in a newer version of the robot, MinIAQ{II, through dimensional synthesis of
mechanisms. The resulting robot demonstrates signi cant improvements over
its predecessor. For characterization and synchronization of the motors, custom
encoders are designed to estimate speed and phase of each leg. Accordingly,
a closed-loop feedback control algorithm is applied to follow an envisioned gait
pattern. Towards understanding these gaits in robots with passive closed-chain
legs, a comprehensive mathematical model is developed to describe the 6-DOF
rigid body dynamics of MinIAQ. The proposed dynamics employs a nonlinear viscoelastic spring-damper model to estimate the feet-ground interactions. An
interactive GUI is developed based on the model in MATLAB to simultaneously
visualize the e ects of design parameters on performance. 3D simulation results
closely match with the experiments and e ectively predict locomotion trends on
at terrain. Since there is no control on foot placement in such underactuated
robots, the model has given an insight into analyzing how close the actual locomotion
is to the envisioned gait. This suggests that a comprehensive locomotion
study with the model can lead to optimizing the gait and improve performance
of miniature legged robots. | en_US |
dc.description.statementofresponsibility | by Mohammad Askari. | en_US |
dc.format.extent | xx, 111 leaves : illustrations (some color), charts ; 30 cm. | en_US |
dc.language.iso | English | en_US |
dc.rights | info:eu-repo/semantics/openAccess | en_US |
dc.subject | Miniature Robotics | en_US |
dc.subject | Origami-Inspired Robotics | en_US |
dc.subject | Foldable Robotics | en_US |
dc.subject | Actuation Mechanism Optimization | en_US |
dc.subject | Dynamics Simulation | en_US |
dc.subject | Quadruped Gait Analysis | en_US |
dc.title | Design, control, modeling, and gait analysis in miniature foldable robotics | en_US |
dc.title.alternative | Katlanabilir minyatür robotlarda tasarım, kontrol, modelleme ve adımlama analizi | en_US |
dc.type | Thesis | en_US |
dc.department | Department of Mechanical Engineering | en_US |
dc.publisher | Bilkent University | en_US |
dc.description.degree | M.S. | en_US |
dc.identifier.itemid | B159013 | |