prikaz prve stranice dokumenta Integracija percepcije terena na robotskog hodača Dynarobin korištenjem 2D lasera
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master's thesis
Integracija percepcije terena na robotskog hodača Dynarobin korištenjem 2D lasera
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. urn:nbn:hr:168:280276
Maras, Mate
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Maras, M. (2016). Integracija percepcije terena na robotskog hodača Dynarobin korištenjem 2D lasera (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:280276

Maras, Mate. "Integracija percepcije terena na robotskog hodača Dynarobin korištenjem 2D lasera." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:280276

Maras, Mate. "Integracija percepcije terena na robotskog hodača Dynarobin korištenjem 2D lasera." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:280276

Maras, M. (2016). 'Integracija percepcije terena na robotskog hodača Dynarobin korištenjem 2D lasera', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:280276

Maras M. Integracija percepcije terena na robotskog hodača Dynarobin korištenjem 2D lasera [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2016 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:280276

M. Maras, "Integracija percepcije terena na robotskog hodača Dynarobin korištenjem 2D lasera", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2016. Available at: https://urn.nsk.hr/urn:nbn:hr:168:280276

Metadata
TitleIntegracija percepcije terena na robotskog hodača Dynarobin korištenjem 2D lasera
Title (english)Integration of Terrain Perception on Dynarobin Walking Robot using 2D Laser
AuthorMate Maras
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2016-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Na robotsku platformu Dynarobin treba montirati 2D laser koji promatra vertikalnu konfiguraciju terena ispred robota. Montažom senzora na rotacijsku os motora treba omogućiti promatranje šireg područja ispred robota. Programski gledano područje promatranja ispred robota ne treba prelaziti više od 30 stupnjeva. Analizom podataka sa senzora treba detektirati nepravilnosti u konfiguraciji terena te identificirati one nepravilnosti u konfiguraciji terena koje mogu postati prijetnja stabilnosti robota (detekcija visine i udaljenosti nepravilnosti). Prema potrebi u sustavu detekcije moguće je iskoristiti 2D kameru montiranu na robotu. U drugoj fazi zadatka treba osmisliti sustav upravljanja koji korigira trajektorije robotskih stopala u svrhu izbjegavanja detektiranih nepravilnosti. Sustav upravljanja korigira duljinu i visinu koraka robota kako bi osigurao adekvatno prelaženje preko detektiranih prepreka. Uspješnost realizacije zadatka treba provjeriti na stvarnom robotu i proizvoljnoj konfiguraciji nepravilnosti na terenu.
Abstract (english)
On the walking robot Dynarobin a 2D laser scanner should be mounted which scans the vertical configuration of the terrain in front of the robot. The laser should be mounted on the rotating axis of a motor in a way which allows the laser to view a larger scope of the terrain in front of the robot. The implemented program does not need to view more then 30 degrees. Analysing the data from the sensor the program should detect irregularities in the configuration of the terrain and identify those irregularities that could cause a threat to the stability of the robot (height and distance detection). If necessary, the use of a camera sensor is allowed. In the second phase, a system should be conceived which corrects footposition trajectories with the purpose of avoiding the detected barrier. The system must correct the trajectory length and heigh so that the transition over the obstacle is well-assured. Success of the program realisation should be measured on the real robot and on a arbitray terrain.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:280276
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2018-02-06 10:24:05