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Design of Highly Dynamic Robot Platforms
Design of Highly Dynamic Robot Platforms
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20250211153124
- ISBN
- 9798346859802
- DDC
- 621
- 저자명
- Liu, Yeting.
- 서명/저자
- Design of Highly Dynamic Robot Platforms
- 발행사항
- [Sl] : University of California, Los Angeles, 2024
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2024
- 형태사항
- 136 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 86-06, Section: B.
- 주기사항
- Advisor: Hong, Dennis W.
- 학위논문주기
- Thesis (Ph.D.)--University of California, Los Angeles, 2024.
- 초록/해제
- 요약The vision of seamlessly integrating robots into daily life, where they assist people across diverse tasks, has driven research in humanoid robotics. For robots to function effectively in human-centered environments, a humanoid form with highly dynamic capabilities-such as running, jumping, and adapting to unpredictable situations-is essential. However, replicating human-like agility and versatility remains challenging due to current limitations in actuation, sensing, and control. To meet these demands, dedicated research platforms for dynamic lower-body locomotion and versatile robotic manipulation are crucial. By making these platforms accessible and reliable, we can accelerate innovation in dynamic robotics, enabling researchers to explore advancements that will eventually bring humanoid robots into real-world, daily applications.This dissertation aims to address the problem by presenting two highly dynamic robotic platforms: BRUCE - Bipedal Robot Unit with Compliance Enhanced, and YORI - Yummy Operations Robot Initiative.BRUCE is a proprioceptive actuated miniature bipedal robot designed for dynamic motion capabilities and robust interaction with unstructured environments. With 5 degrees of freedom (DoF) per leg, including a spherical hip joint, knee, and ankle, BRUCE achieves a human-like range of lower body motion. Its design incorporates a novel cable-driven differential pulley system and a linkage mechanism to minimize leg inertia, enhancing stability and control. Tests of dynamic bipedal locomotion and jumping demonstrate BRUCE's high dynamic performance.In parallel, YORI represents a major breakthrough in culinary automation as an autonomous robotic cooking system. Featuring a dual-arm manipulator equipped with proprioceptive actuators, YORI performs a wide variety of cooking tasks with speed, precision, and force control. Its modular kitchen design allows for seamless integration of custom tools and appliances, enhancing adaptability for diverse culinary activities.Together, BRUCE and YORI showcase the potential of robotic platforms in dynamic and adaptive tasks, from the physical robustness and stability of BRUCE to YORI's efficiency and versatility in food preparation. Guidelines for Highly Dynamic Robot Platforms Design is provided in the end. By adhering to these guidelines, future robotic platforms can achieve high dynamic performance, ensuring versatility, scalability, and reliability across a broad spectrum of applications.
- 일반주제명
- Mechanical engineering
- 일반주제명
- Robotics
- 키워드
- Bipedal robot
- 키워드
- Cooking robot
- 키워드
- Humanoid robot
- 키워드
- Robot design
- 기타저자
- University of California, Los Angeles Mechanical Engineering 0330
- 기본자료저록
- Dissertations Abstracts International. 86-06B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■006m o d
■007cr#unu||||||||
■020 ▼a9798346859802
■035 ▼a(MiAaPQ)AAI31764611
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a621
■1001 ▼aLiu, Yeting.
■24510▼aDesign of Highly Dynamic Robot Platforms
■260 ▼a[Sl]▼bUniversity of California, Los Angeles▼c2024
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2024
■300 ▼a136 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 86-06, Section: B.
■500 ▼aAdvisor: Hong, Dennis W.
■5021 ▼aThesis (Ph.D.)--University of California, Los Angeles, 2024.
■520 ▼aThe vision of seamlessly integrating robots into daily life, where they assist people across diverse tasks, has driven research in humanoid robotics. For robots to function effectively in human-centered environments, a humanoid form with highly dynamic capabilities-such as running, jumping, and adapting to unpredictable situations-is essential. However, replicating human-like agility and versatility remains challenging due to current limitations in actuation, sensing, and control. To meet these demands, dedicated research platforms for dynamic lower-body locomotion and versatile robotic manipulation are crucial. By making these platforms accessible and reliable, we can accelerate innovation in dynamic robotics, enabling researchers to explore advancements that will eventually bring humanoid robots into real-world, daily applications.This dissertation aims to address the problem by presenting two highly dynamic robotic platforms: BRUCE - Bipedal Robot Unit with Compliance Enhanced, and YORI - Yummy Operations Robot Initiative.BRUCE is a proprioceptive actuated miniature bipedal robot designed for dynamic motion capabilities and robust interaction with unstructured environments. With 5 degrees of freedom (DoF) per leg, including a spherical hip joint, knee, and ankle, BRUCE achieves a human-like range of lower body motion. Its design incorporates a novel cable-driven differential pulley system and a linkage mechanism to minimize leg inertia, enhancing stability and control. Tests of dynamic bipedal locomotion and jumping demonstrate BRUCE's high dynamic performance.In parallel, YORI represents a major breakthrough in culinary automation as an autonomous robotic cooking system. Featuring a dual-arm manipulator equipped with proprioceptive actuators, YORI performs a wide variety of cooking tasks with speed, precision, and force control. Its modular kitchen design allows for seamless integration of custom tools and appliances, enhancing adaptability for diverse culinary activities.Together, BRUCE and YORI showcase the potential of robotic platforms in dynamic and adaptive tasks, from the physical robustness and stability of BRUCE to YORI's efficiency and versatility in food preparation. Guidelines for Highly Dynamic Robot Platforms Design is provided in the end. By adhering to these guidelines, future robotic platforms can achieve high dynamic performance, ensuring versatility, scalability, and reliability across a broad spectrum of applications.
■590 ▼aSchool code: 0031.
■650 4▼aMechanical engineering
■650 4▼aRobotics
■653 ▼aBipedal robot
■653 ▼aCooking robot
■653 ▼aDynamic locomotion
■653 ▼aHumanoid robot
■653 ▼aRobot design
■690 ▼a0548
■690 ▼a0800
■690 ▼a0771
■71020▼aUniversity of California, Los Angeles▼bMechanical Engineering 0330.
■7730 ▼tDissertations Abstracts International▼g86-06B.
■790 ▼a0031
■791 ▼aPh.D.
■792 ▼a2024
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17165109▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
