Redesigning and reconfiguration control system of the omni-directional mobile robot using cubieboard for executing lagrange trajectory

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Redesigning and reconfiguration control system of the omni-directional mobile robot using cubieboard for executing lagrange trajectory

Tanaya, Prianggada Indra - Personal Name; Chandiardy, Ryan Bernard - Personal Name;

The objective of this thesis is to develop a vision system for bipedal Robot to follow other robot dynamically and also implementing the basis movement of Lagrange interpolation path planning with using camera vision and without camera vision. Vision system detects the difference of selected colors that are attached on the top of the bipedal robot. The previous work done by Sutrisno Citra uses dual color to recognize the back and front sides of the follower robot, but in this thesis work the follower robot is modified with using only a single color to follow other robot with the different color dynamically. The path planning from previous work is modified to meet the suitable requirement for this single color recognition path planning. rnFor the Lagrange trajectory, the bipedal robots move based on the second order Lagrange polynomial with starting, reference and end points are needed here to generate the new points come from the equation of Lagrange.

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B01816 (Rack Thesis) Available

Detail Information

Series Title: -
Call Number: 1816
Publisher: : Swiss German University., 2015
Collation: -
Language: English
ISBN/ISSN: -
Classification: NONE
Content Type: -
Media Type: -
Carrier Type: -
Edition: -
Subject(s): MT
Bipedal robot
Camera vision
Color detection and lagrange trajectory
Specific Detail Info: -
Statement of Responsibility: -

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