Thesis etd-01282019-104925 |
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Thesis type
Tesi di laurea magistrale
URN
etd-01282019-104925
Thesis title
Whole-Body Dynamic Control applied to a wheeled humanoid for balancing and environment interaction
Department
INGEGNERIA DELL'INFORMAZIONE
Course of study
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Supervisors
.
relatore Prof. Bicchi, Antonio
tutor Caporale, Danilo
tutor Lentini, Gianluca
tutor Settimi, Alessandro
tutor Caporale, Danilo
tutor Lentini, Gianluca
tutor Settimi, Alessandro
Keywords
- Constrained Control
- Wheeled Humanoid
- Whole-Body Dynamic Control
Graduation session start date
21/02/2019
Availability
Withheld
Release date
21/02/2089
Abstract (Inglese)
Abstract (Italiano)
Control of two-wheeled floating-base robots poses several challenges due to their unstable dynamics and the coupling between upper and lower body dynamics. The problem is often faced in the literature with methods based on linearized or simplified models that fail in exploiting the whole structure and dynamic capabilities of the platform in use.
The goal of this thesis is to find a whole-body dynamic control (called Inverse Dynamic Control) for a mobile wheeled unstable humanoid robot that takes into account the kinematic constraints between the robot and the environment and includes upper limb movement. The found control law is then tested on Ego, a wheeled humanoid developed by the Centro di Ricerca ”Enrico Piaggio”, University of Pisa, where the thesis was carried out.
The goal of this thesis is to find a whole-body dynamic control (called Inverse Dynamic Control) for a mobile wheeled unstable humanoid robot that takes into account the kinematic constraints between the robot and the environment and includes upper limb movement. The found control law is then tested on Ego, a wheeled humanoid developed by the Centro di Ricerca ”Enrico Piaggio”, University of Pisa, where the thesis was carried out.
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