ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-05272010-160900


Tipo di tesi
Tesi di laurea specialistica
Autore
GRAVA, MASSIMO
URN
etd-05272010-160900
Titolo
Techniques for Head Control in Robot Biped Walking
Dipartimento
INGEGNERIA
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Relatori
relatore Prof. Caiti, Andrea
relatore Prof. Dario, Paolo
controrelatore Prof. Pollini, Lorenzo
relatore Prof.ssa Laschi, Cecilia
Parole chiave
  • inverse kinematics
  • neural networks
  • humanoid robotics
  • vestibular system
  • head stabilization
  • biped walking
  • head control
  • recurrent cerebellar architecture
Data inizio appello
08/07/2010
Consultabilità
Parziale
Data di rilascio
08/07/2050
Riassunto
Analyzing the available literature of motion-captured head motion during human walking, a simplified reference model of human-like head movement for humanoid robots has been developed. Torso motion during the WABIAN-2R humanoid robot walk has been recorded using Inertial Measurement Units. Several controllers have been developed to compensate for torso motion and to follow arbitrary references: a linear controller and two non-linear ones, based on inverse differential kinematics and on closed-form inverse kinematics formulae. The controller designs have been tested with an approximate dynamic simulation of the robot head. The bio-inspired Recurrent Cerebellar Architecture neural network model has been applied to the problem of learning the head rotational inverse kinematics. Such a neural network, even with few neurons compared to the size of the input space, is able to learn to invert the kinematics to an acceptable degree of precision.
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