Aktivno upravljanje podatnosti robotskog hodača korištenjem senzora sile

master's thesis

• Title (english): Active Compliance Control of Walking Robot using Force Sensors
• Author: Damir Mirković
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-07-13, 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: četveronožni robot; aktivna podatnost; raspodjela sile; pasivna podatnost; senzor sile; opruga; krutost; prigušenje; ROS
• Keywords (english): active compliance; hybrid compliance; force sensor; virtual spring-damper; force distribution; dynarobin; quadruped robot; walking robot; ROS
• Language: english
• URN:NBN: urn:nbn:hr:168:882557
• Study programme: Title: 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 resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 10:47:23