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Title: Alocomotino Control Algorithm for Robotic Linkage Systems

Abstract

This dissertation describes the development of a control algorithm that transitions a robotic linkage system between stabilized states producing responsive locomotion. The developed algorithm is demonstrated using a simple robotic construction consisting of a few links with actuation and sensing at each joint. Numerical and experimental validation is presented.

Authors:
 [1]
  1. Univ. of New Mexico, Albuquerque, NM (United States)
Publication Date:
Research Org.:
Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
Sponsoring Org.:
USDOE National Nuclear Security Administration (NNSA)
OSTI Identifier:
1331362
Report Number(s):
SAND2016-11036T
648781
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Thesis/Dissertation
Country of Publication:
United States
Language:
English
Subject:
97 MATHEMATICS AND COMPUTING

Citation Formats

Dohner, Jeffrey L. Alocomotino Control Algorithm for Robotic Linkage Systems. United States: N. p., 2016. Web.
Dohner, Jeffrey L. Alocomotino Control Algorithm for Robotic Linkage Systems. United States.
Dohner, Jeffrey L. 2016. "Alocomotino Control Algorithm for Robotic Linkage Systems". United States.
@article{osti_1331362,
title = {Alocomotino Control Algorithm for Robotic Linkage Systems},
author = {Dohner, Jeffrey L.},
abstractNote = {This dissertation describes the development of a control algorithm that transitions a robotic linkage system between stabilized states producing responsive locomotion. The developed algorithm is demonstrated using a simple robotic construction consisting of a few links with actuation and sensing at each joint. Numerical and experimental validation is presented.},
doi = {},
url = {https://www.osti.gov/biblio/1331362}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Sat Oct 01 00:00:00 EDT 2016},
month = {Sat Oct 01 00:00:00 EDT 2016}
}

Thesis/Dissertation:
Other availability
Please see Document Availability for additional information on obtaining the full-text document. Library patrons may search WorldCat to identify libraries that hold this thesis or dissertation.

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