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Title:Modeling and control of a self-assembled robotic swimmer
Author(s):Orduno, Carlos
Advisor(s):Bretl, Timothy W.
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):Self-Organised Robot Systems
Abstract:This thesis 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 per- pendicular to the liquid surface [1]. 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.
Issue Date:2012-05-22
URI:http://hdl.handle.net/2142/31200
Rights Information:Copyright 2012 Carlos Orduno
Date Available in IDEALS:2012-05-22
Date Deposited:2012-05


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