Towards the development of a novel electro-pneumatic hybrid robot morphology
Citation:Conor L. McGinn, 'Towards the development of a novel electro-pneumatic hybrid robot morphology', [thesis], Trinity College (Dublin, Ireland). Department of Mechanical and Manufacturing Engineering, 2015, pp 287
McGinn TCD THESIS 10908 Towards the.pdf (PDF) 170.0Mb
Existing robot morphologies have typically failed to demonstrate the full range of terrain adaptability, physical practicality and behavioural diversity needed for general-purpose use, as the most suitable morphologies for certain tasks are highly unsuitable for others. Legged robot morphologies offer increased terrain adaptability at a cost of high energy consumption and poor stability, while infinite rotational mechanisms (e.g.wheels, tracks) possess high stability and energy efficiency but low terrain adaptability. This work presents a hybrid robot morphology that has the terrain adaptability needed to traverse a diverse range of civilian environments, the physical traits required to exploit ergonomically designed spaces and user interfaces which enable practical usage.
Author: McGinn, Conor L.
Qualification name:Doctor of Philosophy (Ph.D.)
Publisher:Trinity College (Dublin, Ireland). Department of Mechanical and Manufacturing Engineering
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Type of material:thesis
Availability:Full text available