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master's thesis
Aktivno upravljanje podatnosti robotskog hodača korištenjem senzora sile
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. urn:nbn:hr:168:882557
Mirković, Damir
University of Zagreb
Faculty of Electrical Engineering and Computing

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Mirković, D. (2016). Aktivno upravljanje podatnosti robotskog hodača korištenjem senzora sile (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:882557

Mirković, Damir. "Aktivno upravljanje podatnosti robotskog hodača korištenjem senzora sile." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:882557

Mirković, Damir. "Aktivno upravljanje podatnosti robotskog hodača korištenjem senzora sile." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2016. https://urn.nsk.hr/urn:nbn:hr:168:882557

Mirković, D. (2016). 'Aktivno upravljanje podatnosti robotskog hodača korištenjem senzora sile', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 26 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:882557

Mirković D. Aktivno upravljanje podatnosti robotskog hodača korištenjem senzora sile [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2016 [cited 2024 December 26] Available at: https://urn.nsk.hr/urn:nbn:hr:168:882557

D. Mirković, "Aktivno upravljanje podatnosti robotskog hodača korištenjem senzora sile", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2016. Available at: https://urn.nsk.hr/urn:nbn:hr:168:882557

Metadata
TitleAktivno upravljanje podatnosti robotskog hodača korištenjem senzora sile
Title (english)Active Compliance Control of Walking Robot using Force Sensors
AuthorDamir Mirković
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
Ovaj diplomski rad proširuje postojeće stanje Dynarobin četvernonožne robotske istraživačke platforme. Prikazane su direktna i inverzna kinematika korištenog četvernožnog robota. Propagacija sile iz referentnog sustava stopala u referentni sustav potkoljenice i kuka te transformacija sile stopala u momente zglobova izvedena je na temelju direktne kinematike noge. Aktivna xyz podatnost i podatnost zglobova temeljene na generičkom virtualnom modelu opruge s prigušenjem implementirane su unutar ROS programskog okruženja. Hibridna podatnost realizirana je modeliranjem pasivno podatnog elementa u sklopu algoritma aktivne podatnosti. Predložen je algoritam raspodjele sile stopala temeljen na optimizacijskoj metodi gradijentnog spusta. Napravljeno je eksperimentalno okruženje visoke točnosti te su analizirana statička karakteristika i dinamička svojstva podatne noge.
Abstract (english)
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.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:882557
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 10:47:23