Optimal Control of the Cheetah During Rapid Manoeuvres
| dc.contributor.advisor | Patel, Amir | |
| dc.contributor.author | Knemeyer, Alexander | |
| dc.date.accessioned | 2023-03-28T12:22:51Z | |
| dc.date.available | 2023-03-28T12:22:51Z | |
| dc.date.issued | 2022 | |
| dc.date.updated | 2023-03-15T12:11:54Z | |
| dc.description.abstract | Cheetahs are incredibly fast, manoeuvrable and highly dynamic, but relatively little is understood about how this is achieved. Thus, understanding their abilities is a subject of research for roboticists and biologists. Trajectory optimisation is a tool often used to increase our understanding of cheetahs, but current approaches which handle the full complexity of poorly understood manoeuvres are slow. The lack of data means that there are no simulated models of cheetahs known to be representative of dynamic movements such as acceleration and turning. In this project, a modelling change is investigated that decreases the time to find trajectories for models involving long serial chains of rigid bodies. Leveraging this development, a software library is created which facilitates the process of finding trajectories of models of legged robots and animals. Using this library, a complex model of a cheetah is developed, based on real data and some experimentation. Finally, the model is used to generate high speed dynamic manoeuvres which present progress towards understanding the incredible abilities of cheetahs. | |
| dc.identifier.apacitation | Knemeyer, A. (2022). <i>Optimal Control of the Cheetah During Rapid Manoeuvres</i>. (). ,Faculty of Engineering and the Built Environment ,Department of Electrical Engineering. Retrieved from http://hdl.handle.net/11427/37533 | en_ZA |
| dc.identifier.chicagocitation | Knemeyer, Alexander. <i>"Optimal Control of the Cheetah During Rapid Manoeuvres."</i> ., ,Faculty of Engineering and the Built Environment ,Department of Electrical Engineering, 2022. http://hdl.handle.net/11427/37533 | en_ZA |
| dc.identifier.citation | Knemeyer, A. 2022. Optimal Control of the Cheetah During Rapid Manoeuvres. . ,Faculty of Engineering and the Built Environment ,Department of Electrical Engineering. http://hdl.handle.net/11427/37533 | en_ZA |
| dc.identifier.ris | TY - Master Thesis AU - Knemeyer, Alexander AB - Cheetahs are incredibly fast, manoeuvrable and highly dynamic, but relatively little is understood about how this is achieved. Thus, understanding their abilities is a subject of research for roboticists and biologists. Trajectory optimisation is a tool often used to increase our understanding of cheetahs, but current approaches which handle the full complexity of poorly understood manoeuvres are slow. The lack of data means that there are no simulated models of cheetahs known to be representative of dynamic movements such as acceleration and turning. In this project, a modelling change is investigated that decreases the time to find trajectories for models involving long serial chains of rigid bodies. Leveraging this development, a software library is created which facilitates the process of finding trajectories of models of legged robots and animals. Using this library, a complex model of a cheetah is developed, based on real data and some experimentation. Finally, the model is used to generate high speed dynamic manoeuvres which present progress towards understanding the incredible abilities of cheetahs. DA - 2022_ DB - OpenUCT DP - University of Cape Town KW - Electrical Engineering LK - https://open.uct.ac.za PY - 2022 T1 - Optimal Control of the Cheetah During Rapid Manoeuvres TI - Optimal Control of the Cheetah During Rapid Manoeuvres UR - http://hdl.handle.net/11427/37533 ER - | en_ZA |
| dc.identifier.uri | http://hdl.handle.net/11427/37533 | |
| dc.identifier.vancouvercitation | Knemeyer A. Optimal Control of the Cheetah During Rapid Manoeuvres. []. ,Faculty of Engineering and the Built Environment ,Department of Electrical Engineering, 2022 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/37533 | en_ZA |
| dc.language.rfc3066 | eng | |
| dc.publisher.department | Department of Electrical Engineering | |
| dc.publisher.faculty | Faculty of Engineering and the Built Environment | |
| dc.subject | Electrical Engineering | |
| dc.title | Optimal Control of the Cheetah During Rapid Manoeuvres | |
| dc.type | Master Thesis | |
| dc.type.qualificationlevel | Masters | |
| dc.type.qualificationlevel | MSc |