Adaptacija parametara hoda NAO robota u različitim situacijama

undergraduate thesis

• Title (english): Adaptation of NAO Walking Parameters in Different Situations
• Author: Vedran Juršević
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Damjan Miklić (član povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2015-09-04, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Rad se bavi adaptacijom parametara NAO robota kada na glavi nosi Kinect. Na početku rada objašnjeni su osnovni pojmovi koji pomažu pri shvaćanju principa hoda robota. Prikazano je kako masa Kinecta utječe na hod. Nakon toga snimljeni su odzivi koji pokazuju utjecaj pojedinog parametra na stabilnost robota, te su dani adaptacijski zakoni. Na poslijetku, adaptacijski algoritam je testiran za slučaj kad na robota djeluje konstantni poremećaj. Dobiveni rezultati su analizirani i komentirani.

Abstract (english)

The project deals with the adaptation of the parameters of the NAO robot when
Kinect is attached to his head. At the start of the work the basic concepts that help
to understand the principles of walking robots are explained. Project shows how mass
of Kinect affects gait. After that we recorded the responses that show the influence of
each parameter on the stability of the robot , and the adaptation laws are given. After
all, the adaptive algorithm has been tested in case when constant disorder operates on
robot. The results were analyzed and discussed.

• Keywords: NAO; robot; Microsoft; Kinect; adaptacija; visina koraka; dužina koraka; otklon lijevo-desno; otklon naprijed-nazad; visina inverznog njihala
• Keywords (english): NAO; robot; Microsoft; Kinect; adaptation; step hight; step length; leftright deviation; forward-backward deviation; inverse pendulum height
• Language: croatian
• URN:NBN: urn:nbn:hr:168:688148
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 09:33:34