Development and Impedance Control of Lightweight Shape Memory Alloy Actuated Robotic Arms
Bibliographic record
Abstract
Shape memory alloys (SMAs) have been proposed as a lightweight actuator for robotic applications. Their low mass makes them an excellent candidate for aerial manipulation, where reducing the mass of a manipulator can increase usable payload and save energy. Existing SMA-actuated robotic arms are restricted in their size, strength, and degrees of freedom (DOFs). This thesis develops two 3-DOF, SMA-actuated robotic arms suitable for aerial manipulation. The developed arms are significantly more capable than existing SMA-actuated arms and can manipulate masses of up to 300 g. A novel compliant joint design is introduced that allows for simultaneous control of antagonistic SMA actuators. The joint provides direct measurements of the torque applied by each actuator, allowing for the development of a multi-level impedance controller. Finally, an extended Kalman filter formulation is introduced and integrated into the multi-DOF robotic arm.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".