Visible to the public Mechanics and Manipulation of Planar Elastic Kinematic ChainsConflict Detection Enabled

TitleMechanics and Manipulation of Planar Elastic Kinematic Chains
Publication TypeConference Paper
Year of Publication2012
AuthorsZoe McCarthy, University of Illinois at Urbana-Champaign, Timothy Bretl, University of Illinois at Urbana-Champaign
Conference NameIEEE International Conference on Robotics and Automation
Date Published05/2012
PublisherIEEE Computer Society
Conference LocationSt. Paul, MN
KeywordsNSA SoS Lablets Materials, science of security, Theoretical Foundations of Threat Assessment by Inverse Optimal Control, UIUC

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.

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Mechanics and Manipulation of Planar Elastic Kinematic Chains