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Remote robot control through mimicing operator’s movement

Matevž Poberžnik (2013) Remote robot control through mimicing operator’s movement. EngD thesis.

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    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.

    Item Type: Thesis (EngD thesis)
    Keywords: robotic arm control, humanoid robot Nao, complementary filter, gyroscope, accelerometer, magnetometer, rotational matrix
    Number of Pages: 58
    Language of Content: Slovenian
    Mentor / Comentors:
    Name and SurnameIDFunction
    akad. prof. dr. Ivan Bratko77Mentor
    Link to COBISS: http://www.cobiss.si/scripts/cobiss?command=search&base=50070&select=(ID=10238036)
    Institution: University of Ljubljana
    Department: Faculty of Computer and Information Science
    Item ID: 2257
    Date Deposited: 22 Oct 2013 15:35
    Last Modified: 07 Nov 2013 12:52
    URI: http://eprints.fri.uni-lj.si/id/eprint/2257

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