W911NF-12-R-0011-03 Complex Dynamics and SystemsO Program_Nonlinear Dynamics and Distributed Control for Soft Robot Locomotion
Abstract
The objective of this effort is to understand the unique dynamics and contact mechanics that govern soft robot locomotion. This will be accomplished using an experimental testbed for validating theoretical models related to limb dynamics, interfacial tractions, and gait. This testbed will be versatile enough to explore a variety of robot designs (e.g. caterpillar, quadruped), actuator and sensor configurations (hierarchical, distributed), control strategies (open loop, feedback control), and ground conditions (dry, smooth, soft). Such a theoretical and design framework will, in turn, be the basis for establishing novel distributed sensing and control strategies in soft robotics. The design and implementation work is part of a three-way collaboration between a mechanics-based modeling group led by Oliver OÕReilly at UC Berkeley (UCB) and a controls group led by Derek Paley at the University of Maryland, College Park (UMD).
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Sep 11, 2018
- Source ID
- W911NF1610148
Entities
People
- Carmel Majidi
Organizations
- Army Contracting Command
- Massachusetts Institute of Technology
- United States Army