عنوان
پدید آورنده
موضوع
رده
کتابخانه
محل استقرار
NATIONAL BIBLIOGRAPHY NUMBER
Number
TL53817
LANGUAGE OF THE ITEM
.Language of Text, Soundtrack etc
انگلیسی
TITLE AND STATEMENT OF RESPONSIBILITY
Title Proper
Untethered Soft Robots With Shape Memory Alloy for Dynamic Locomotion
General Material Designation
[Thesis]
First Statement of Responsibility
Huang, Xiaonan
Subsequent Statement of Responsibility
Majidi, Carmel
.PUBLICATION, DISTRIBUTION, ETC
Name of Publisher, Distributor, etc.
Carnegie Mellon University
Date of Publication, Distribution, etc.
2020
GENERAL NOTES
Text of Note
153 p.
DISSERTATION (THESIS) NOTE
Dissertation or thesis details and type of degree
Ph.D.
Body granting the degree
Carnegie Mellon University
Text preceding or following the note
2020
SUMMARY OR ABSTRACT
Text of Note
As an emerging class of biologically-inspired machines that are primarily composed of elastomers, fluids, and other forms of soft matter, soft robots have potential advantages over traditional piece-wise rigid machines in maneuvering through complicated environments and resisting external disturbances. Despite drastically growing interests and efforts in soft robotics, building a soft untethered fast robot remains a significant challenge. To address this, I first create a highly dynamic soft load-bearing shape memory alloy (SMA) actuator that can be actuated by miniaturized electronics. Then I build several tethered and untethered soft robots that are capable of moving at biologically relevant speed and navigating unstructured terrains with the soft SMA actuators. To further improve the speed and robustness of the robot, I integrate several soft multifunctional composite materials into the soft robots, including a thermally conductive liquid metal embedded elastomer, an autonomously electrically self-healing composite and a highly conductive silver-hydrogel composite. Next, I use several soft robotic testbeds that are capable of crawling, jumping, rolling and swimming to experimentally validate a planar discrete differential geometry based physics engine that is widely used in the computer graphics community. Finally, I adapt the physics engine to simulate multi-limbed underwater robots and use it as a computational tool to optimize the design and control parameters of an untethered dynamic frog-inspired soft robot to achieve fast and efficient locomotion.
UNCONTROLLED SUBJECT TERMS
Subject Term
Materials science
Subject Term
Mechanical engineering
Subject Term
Robotics
PERSONAL NAME - PRIMARY RESPONSIBILITY
Huang, Xiaonan
PERSONAL NAME - SECONDARY RESPONSIBILITY
Majidi, Carmel
CORPORATE BODY NAME - SECONDARY RESPONSIBILITY
Carnegie Mellon University
ELECTRONIC LOCATION AND ACCESS
Electronic name
مطالعه متن کتاب p
[Thesis]
276903
a
Y
