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Optimal Control of the Cheetah During Rapid Manoeuvres
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 ch...
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| Format: | Thesis |
| Language: | English |
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Department of Electrical Engineering
2023
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| _version_ | 1867613260704907264 |
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| access_status_str | Open Access |
| author | Knemeyer, Alexander |
| author2 | Patel, Amir |
| author_browse | Knemeyer, Alexander Patel, Amir |
| author_facet | Patel, Amir Knemeyer, Alexander |
| author_sort | Knemeyer, Alexander |
| collection | Thesis |
| description | 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. |
| format | Thesis |
| id | oai:open.uct.ac.za:11427/37533 |
| institution | University of Cape Town (South Africa) |
| language | eng |
| last_indexed | 2026-06-10T12:33:19.547Z |
| license_str | Not specified — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from UCTD — University of Cape Town Open Access Repository |
| publishDate | 2023 |
| publishDateRange | 2023 |
| publishDateSort | 2023 |
| publisher | Department of Electrical Engineering |
| publisherStr | Department of Electrical Engineering |
| record_format | dspace |
| source_str | UCTD — University of Cape Town Open Access Repository |
| spelling | oai:open.uct.ac.za:11427/37533 Optimal Control of the Cheetah During Rapid Manoeuvres Knemeyer, Alexander Patel, Amir Electrical Engineering 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. 2023-03-28T12:22:51Z 2023-03-28T12:22:51Z 2022 2023-03-15T12:11:54Z Master Thesis Masters MSc http://hdl.handle.net/11427/37533 eng application/pdf Department of Electrical Engineering Faculty of Engineering and the Built Environment |
| spellingShingle | Electrical Engineering Knemeyer, Alexander Optimal Control of the Cheetah During Rapid Manoeuvres |
| thesis_degree_str | Master's |
| title | Optimal Control of the Cheetah During Rapid Manoeuvres |
| title_full | Optimal Control of the Cheetah During Rapid Manoeuvres |
| title_fullStr | Optimal Control of the Cheetah During Rapid Manoeuvres |
| title_full_unstemmed | Optimal Control of the Cheetah During Rapid Manoeuvres |
| title_short | Optimal Control of the Cheetah During Rapid Manoeuvres |
| title_sort | optimal control of the cheetah during rapid manoeuvres |
| topic | Electrical Engineering |
| url | http://hdl.handle.net/11427/37533 |
| work_keys_str_mv | AT knemeyeralexander optimalcontrolofthecheetahduringrapidmanoeuvres |