Walking Thesis Project Robotics

Walking Thesis Project Robotics-66
Since then, we have been gradually improving the robot hardware and software and we implemented several locomotion modes from walking to running and jumping. Only with their expert knowledge and experience such a project is possible.

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the objective of this master thesis is to devise motion retargeting strategies for collaborative tasks involving a human operator and a humanoid robot.

The human operator will be equipped with inertial and force sensors (XSens suit, shoes with force sensors) and the robot will use the motion capture data in real-time to perform its own part of the movement by imitating the human movement and readapting it to its own geometry, kinematics, and dynamics.

The main scientific challenge will be to adapt the muti-robot whole-body controller to the situation in which the motion of one of the robot of the system is an input (constraint) rather than an output (command) of the controller, but till using the full coupled model of the multi-robot system to compute the motion of the robot.

Candidates should be enrolled in Master studies in Robotics, Computer Science or related field.

The design of the algorithms should be general enough to be easily ported to other robots.

Walking Thesis Project Robotics

The ideal candidate should have good skills in C/C , knowledge of ROS, Python and GIT.

It is also desirable to have at least one control or robotics course in your curriculum.

The objective of this master thesis is to investigate the use of force/pressure sensors under the feet of humanoid robots to estimate interaction wrenches and to identify the point(s) on the robot structure where the interaction is occurring.

Features can either be geometrically-based (e.g., points, lines) or appearance-based (e.g., intensity levels of image patches).

The choice of which feature to use is a crucial decision, which ultimately affects the convergence rate, stability domain and overall robustness of the control/estimation scheme.


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