Mechanics and Manipulation of Planar Elastic Kinematic Chains
| Title | Mechanics and Manipulation of Planar Elastic Kinematic Chains |
| Publication Type | Conference Paper |
| Year of Publication | 2012 |
| Authors | Zoe McCarthy, University of Illinois at Urbana-Champaign, Timothy Bretl, University of Illinois at Urbana-Champaign |
| Conference Name | IEEE International Conference on Robotics and Automation |
| Date Published | 05/2012 |
| Publisher | IEEE Computer Society |
| Conference Location | St. Paul, MN |
| Keywords | NSA SoS Lablets Materials, science of security, Theoretical Foundations of Threat Assessment by Inverse Optimal Control, UIUC |
| Abstract | This paper presents a control strategy based on model learning for a self-assembled robotic "swimmer". The swimmer forms when a liquid suspension of ferro-magnetic micro-particles and a non-magnetic bead are exposed to an alternating magnetic field that is oriented perpendicular to the liquid surface. It can be steered by modulating the frequency of the alternating field. We model the swimmer as a unicycle and learn a mapping from frequency to forward speed and turning rate using locally-weighted projection regression. We apply iterative linear quadratic regulation with a receding horizon to track motion primitives that could be used for path following. Hardware experiments validate our approach. |
| URL | https://static1.squarespace.com/static/53d016d6e4b0e86a1a65f38a/t/55fe1aa2e4b08aa6c7f420ab/144271632... |
| DOI | http://ieeexplore.ieee.org/document/6224693/ |
| Citation Key | node-31167 |
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