RUcore: Rutgers University Community Repository
Design and fabrication of test bed for evaluating the locomotion of a robot with compliant actuators
Descriptive
TitleInfo
Title
Design and fabrication of test bed for evaluating the locomotion of a robot with compliant actuators
Name
(type = personal)
NamePart
(type = family)
Royal
NamePart
(type = given)
Julian
NamePart
(type = date)
1995
DisplayForm
Royal, Julian, 1995-
Role
RoleTerm
(authority = RULIB);
(type = text)
author
Name
(type = personal)
NamePart
(type = family)
Mazzeo
NamePart
(type = given)
Aaron
DisplayForm
Aaron Mazzeo
Affiliation
Advisory Committee
Role
RoleTerm
(authority = RULIB)
chair
Name
(type = personal)
NamePart
(type = family)
Baruh
NamePart
(type = given)
Haim
DisplayForm
Haim Baruh
Affiliation
Advisory Committee
Role
RoleTerm
(authority = RULIB)
internal member
Name
(type = personal)
NamePart
(type = family)
Bilgen
NamePart
(type = given)
Onur
DisplayForm
Onur Bilgen
Affiliation
Advisory Committee
Role
RoleTerm
(authority = RULIB)
internal member
Name
(type = corporate)
NamePart
Rutgers University
Role
RoleTerm
(authority = RULIB)
degree grantor
Name
(type = corporate)
NamePart
School of Graduate Studies
Role
RoleTerm
(authority = RULIB)
school
TypeOfResource
Text
Genre
(authority = marcgt)
theses
OriginInfo
DateCreated
(encoding = w3cdtf);
(keyDate = yes);
(qualifier = exact)
2020
DateOther
(encoding = w3cdtf);
(qualifier = exact);
(type = degree)
2020-05
Language
LanguageTerm
(authority = ISO 639-3:2007);
(type = text)
English
Abstract
(type = abstract)
The main objective of this project was to fabricate a test bed for a robot capable of locomotion on land and in water. After completing the main objective, we desired to measure the cost of transport and compare the robot’s efficiency when either the rigidity or shape of the actuator was changed. Ultimately, a robot capable of swimming using oscillating actuators was successfully fabricated. This thesis describes the mechanical design and fabrication as well as the LabView program used to control the robot and acquire data. Before fabrication, the components of the robot were modeled in SolidWorks so we could avoid having issues properly placing components. The CAD models also allowed us to improve the robot’s design when these issues were noticed. The LabView program allows the operator to manually control the robot. The program also allows the robot to swim autonomously along a straight path using feedback from its IMU sensors. These sensors return information on the robot body orientation and heading. By collecting data through video, in conjunction with a MATLAB program written to analyze the images, it will be possible to determine the robot’s displacement, and furthermore, its efficiency. The results of this project will hopefully lead to improvements in current water-based robot design.
Subject
(authority = RUETD)
Topic
Mechanical and Aerospace Engineering
RelatedItem
(type = host)
TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier
(type = RULIB)
ETD
Identifier
ETD_10916
PhysicalDescription
Form
(authority = gmd)
InternetMediaType
application/pdf
InternetMediaType
text/xml
Extent
1 online resource (x, 58 pages)
Note
(type = degree)
M.S.
Note
(type = bibliography)
Includes bibliographical references
RelatedItem
(type = host)
TitleInfo
Title
School of Graduate Studies Electronic Theses and Dissertations
Identifier
(type = local)
rucore10001600001
Location
PhysicalLocation
(authority = marcorg);
(displayLabel = Rutgers, The State University of New Jersey)
NjNbRU
Identifier
(type = doi)
doi:10.7282/t3-zr0p-9m20
Genre
(authority = ExL-Esploro)
ETD graduate
Back to the top
Rights
RightsDeclaration
(ID = rulibRdec0006)
The author owns the copyright to this work.
RightsHolder
(type = personal)
Name
FamilyName
Royal
GivenName
Julian
Role
Copyright Holder
RightsEvent
Type
Permission or license
DateTime
(encoding = w3cdtf);
(qualifier = exact);
(point = start)
2020-05-01 11:20:33
AssociatedEntity
Name
Julian Royal
Role
Copyright holder
Affiliation
Rutgers University. School of Graduate Studies
AssociatedObject
Type
License
Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
RightsEvent
Type
Embargo
DateTime
(encoding = w3cdtf);
(qualifier = exact);
(point = start)
2020-05-31
DateTime
(encoding = w3cdtf);
(qualifier = exact);
(point = end)
2021-05-31
Detail
Access to this PDF has been restricted at the author's request. It will be publicly available after May 31st, 2021.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
Back to the top
Technical
RULTechMD
(ID = TECHNICAL1)
ContentModel
ETD
OperatingSystem
(VERSION = 5.1)
windows xp
CreatingApplication
Version
1.7
DateCreated
(point = end);
(encoding = w3cdtf);
(qualifier = exact)
2020-05-06T17:19:32
DateCreated
(point = end);
(encoding = w3cdtf);
(qualifier = exact)
2020-05-06T13:21:49
Back to the top
Statistical Profile