diplomsko delo
Matevž Poberžnik (Author), Ivan Bratko (Mentor)

Abstract

Daljinsko vodenje robota s posnemanjem operaterjevih gibov

Keywords

upravljanje robotske roke;humanoidni robot Nao;komplementarni filter;žiroskop;pospeškometer;magnetometer;rotacijska matrika;računalništvo;računalništvo in informatika;računalništvo in matematika;univerzitetni študij;diplomske naloge;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UL FRI - Faculty of Computer and Information Science
Publisher: [M. Poberžnik]
UDC: 007.5:004.5(043.2)
COBISS: 10238036 Link will open in a new window
Views: 50
Downloads: 16
Average score: 0 (0 votes)
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Other data

Secondary language: English
Secondary title: Remote robot control through mimicing operatorʼs movement
Secondary abstract: In this thesis I describe the development of a human robot interface, specifically, an interface to control the arm of humanoid robot Nao. My controller consists of low-cost sensors - gyroscopes, accelerometers and magnetometers, which are strapped to a human arm. Using this hardware, my goal was to implement software filters to establish an accurate mapping between a human and a robot arm. The hardware part of the interface that takes care of data acquisition consists of a microcontroller, the sensors and a Bluetooth communication interface. I describe all hardware parts in details and explain the communication between the microcontroller and sensors and PC. Furthermore, I designed an algorithm for computation of spatial rotation from the obtained sensory data. I used complementary filter to join the data. I describe sensor calibration procedures, the problems I encountered during calibration and propose the solutions, which diminish the errors as much as possible. I study the differences between a human and Nao's arm and propose a method for Nao arm control from gathered data. I test my system on three simple tasks with respect to the complexity and accuracy of controlling Nao's arm.
Secondary keywords: robotic arm control;humanoid robot Nao;complementary filter;gyroscope;accelerometer;magnetometer;rotational matrix;computer science;computer and information science;computer science and mathematics;diploma;
File type: application/pdf
Type (COBISS): Undergraduate thesis
Thesis comment: Univerza v Ljubljani, Fakulteta za računalništvo in informatiko
Pages: 58 str.
ID: 24190923