Integracija percepcije terena na robotskog hodača Dynarobin korištenjem 2D lasera

master's thesis

• Title (english): Integration of Terrain Perception on Dynarobin Walking Robot using 2D Laser
• Author: Mate Maras
• 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

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: ROS; Dynarobin; robotski hodač; četveronožni hodač; hokyuo; LIDAR; LaserScan; PointCloud; Dynamixel; detekcija prepreka; korekcija hoda; catmullrom; izrada trajektorija
• Keywords (english): Dynarobin; quadruped robot; hokyuo; LIDAR; LaserScan; Point- Cloud; Dynamixel; obstacle detection; gait correction; catmull-rom; trajectory generation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:280276
• 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 10:24:05