Managing Uncertainty: Principles for Robust and Dexterous Continuum Mechanics

Abstract

In this project we explore the underlying scientific principles of programming continuously deformable structures to perform rich and diverse interactions with the physical environment. In particular, we will focus on interactions with diverse environments with an emphasis on uncertainty: having imperfect knowledge of the geometric, inertial, and impedance properties of the objects or environment, as well as limited, noisy proprioception and actuation. Our strategies will be guided by biology, taking inspiration from biological counterparts and quantifying the relative performance of our engineered and model systems.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jun 21, 2021
Accession Number
AD1186501

Entities

People

  • Anette E. Hosoi

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Space

DTIC Thesaurus Topics

  • Algorithms
  • Boundary Layer
  • Computer Programming
  • Diagrams
  • Drag
  • Dynamics
  • Elastomers
  • Environment
  • Equations
  • Fluid Flow
  • Geometric Forms
  • Geometry
  • Information Science
  • Inverse Problems
  • Lines (Geometry)
  • Materials
  • Measurement
  • Mechanics
  • Shape
  • Three Dimensional
  • United States

Readers

  • Robotics and Automation.
  • Theoretical Analysis.