Tipo di tesi
Tesi di laurea specialistica
Titolo
Techniques for Head Control in Robot Biped Walking
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Parole chiave
- biped walking
- head control
- head stabilization
- humanoid robotics
- inverse kinematics
- neural networks
- recurrent cerebellar architecture
- vestibular system
Data inizio appello
08/07/2010
Data di rilascio
08/07/2050
Riassunto (Italiano)
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.
