Search for dissertations about: "Anton Shiriaev"
Showing result 1 - 5 of 7 swedish dissertations containing the words Anton Shiriaev.
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1. Towards semi-automation of forestry cranes : automated trajectory planning and active vibration damping
Abstract : Forests represent one of the biggest terrestrial ecosystems of Earth, that can produce important raw renewable materials such as wood with the help of sun, air and water. To efficiently extract these raw materials, the tree harvesting process is highly mechanized in developed countries, meaning that advanced forestry machines are continuously used to fell, to process and to transport the logs and biomass obtained from the forests. READ MORE
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2. Underactuated mechanical systems : Contributions to trajectory planning, analysis, and control
Abstract : Nature and its variety of motion forms have inspired new robot designs with inherentunderactuated dynamics. The fundamental characteristic of these controlled mechanicalsystems, called underactuated, is to have the number of actuators less than the number ofdegrees of freedom. READ MORE
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3. Applications of the Virtual Holonomic Constraints Approach : Analysis of Human Motor Patterns and Passive Walking Gaits
Abstract : In the field of robotics there is a great interest in developing strategies and algorithms to reproduce human-like behavior. One can think of human-like machines that may replace humans in hazardous working areas, perform enduring assembly tasks, serve the elderly and handicapped, etc. READ MORE
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4. Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators
Abstract : Motion planning and control synthesis are challenging problems for underactuated mechanical systems due to the presence of passive (non-actuated) degrees of freedom. For those systems that are additionally not feedback linearizable and with unstable internal dynamics there are no generic methods for planning trajectories and their feedback stabilization. READ MORE
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5. Contributions to motion planning and orbital stabilization : case studies: Furuta pendulum swing up, inertia wheel oscillations and biped robot walking
Abstract : Generating and stabilizing periodic motions in nonlinear systems is a challenging task. In the control system community this topic is also known as limit cycle control. In recent years a framework known as Virtual Holonomic Constraints (VHC) has been developed as one of the solutions to this problem. READ MORE