Naslov
Aktivno upravljanje podatnosti robotskog hodača korištenjem senzora sile
(Active Compliance Control of Walking Robot using Force Sensors)

Autori
Mirković, Damir

Vrsta, podvrsta i kategorija rada
Ocjenski radovi, diplomski rad, diplomski

Fakultet
Fakultet elektrotehnike i računarstva

Mjesto
Zagreb

Datum
13.07

Godina
2016

Stranica
41

Mentor
Kovačić, Zdenko

Neposredni voditelj
Kočo, Edin

Ključne riječi
četveronožni robot; aktivna podatnost; raspodjela sile; pasivna podatnost; senzor sile; opruga; krutost; prigušenje; ROS; Dynarobin; robotski hodač; četveronožni hodač; hokyuo; LIDAR; LaserScan; PointCloud; Dynamixel; detekcija prepreka; korekcija hoda; Catmull-Rom; izrada trajektorija
(active compliance; hybrid compliance; force sensor; virtual spring-damper; force distribution; dynarobin; quadruped robot; walking robot; ROS)

Sažetak
This thesis extends the current state of the Dynarobin quadruped robot research platform with the hybrid active and passive compliance capability. The direct and inverse leg kinematics of the used quadruped robot are presented. Foot force to lower leg and hip reference frame propagation and foot force to joint torque transformation are determined based on direct leg kinematics. Active xyz and joint compliance based on generic virtual spring-damper model is implemented inside ROS framework. Hybrid compliance is realized by modeling passive compliance element inside the active compliance algorithm. Foot force distribution algorithm based on an online gradient descent optimization method is proposed. High accuracy experimental environment is assembled and compliant leg steady-state characteristics and dynamic properties quality are analyzed.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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