Korištenje centroidalne dinamike za automatsko generiranje pokreta cijelog tijela humanoidnog robota pri izvođenju zadatka

master's thesis

• Title (english): Use of Centroidal Dynamics for Automatic Generation of Humanoid Whole-Body Movement during Task Execution
• Author: Ivo Vatavuk
• 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: 2018-07-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Hodajuće robote moguće je promatrati korištenjem centroidalne dinamike. Centar pritiska može se kontrolirati promjenom linearne i kutne centroidalne količine gibanja. Korištenjem centroidalne dinamike moguće je dobiti širok spektar pokreta cijelog tijela hodajućeg robota. Upravljanje centroidalnom količinom gibanja je primijenjeno za balansiranje i skakanje. V-Rep simulator je korišten za testiranje algoritama.

Abstract (english)

Centroidal dynamics can be used to study walking robots. Center of pressure can be controlled by the rate of change of linear and angular centroidal momentum. A wide range of whole-body motions can be accomplished through the use of centroidal dynamics. Centroidal momentum control is applied for balancing and jumping. V-Rep simulation software is used for algorithm testing purposes.

• Keywords: Centroidalna dinamika; upravljanje pokretima cijelog tijela; CMM; dinamika sustava s lebdećom bazom; balansiranje; skakanje
• Keywords (english): Centroidal dynamics; whole-body control; CMM; floating-base dynamics; balancing; jumping
• Language: croatian
• URN:NBN: urn:nbn:hr:168:533221
• 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: 2019-03-14 01:50:18