lnu.sePublikationer
Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Human-like Crawling for Humanoid Robots: Gait Evaluation on the NAO robot
Linnéuniversitetet, Fakulteten för teknik (FTK), Institutionen för datavetenskap och medieteknik (DM).
2018 (Engelska)Självständigt arbete på avancerad nivå (magisterexamen), 10 poäng / 15 hpStudentuppsats (Examensarbete)
Abstract [en]

Human-robot interaction (HRI) is the study of how we as humans interact and communicate with robots and one of its subfields is working on how we can improve the collaboration between humans and robots. We need robots that are more user friendly and easier to understand and a key aspect of this is human-like movements and behavior. This project targets a specific set of motions called locomotion and tests them on the humanoid NAO robot. A human-like crawling gait was developed for the NAO robot and compared to the built-in walking gait through three kinds of experiments. The first one to compare the speed of the two gaits, the second one to estimate their sta- bility, and the third to examine how long they can operate by measuring the power consumption and temperatures in the joints. The results showed the robot was significantly slower when crawling compared to walking, and when still the robot was more stable while standing than on all-fours. The power consumption remained essentially the same, but the crawling gait ended up having a shorter operational time due to higher temperature increase in the joints. While the crawling gait has benefits of having a lower profile then the walking gait and could therefore more easily pass under low hanging obsta- cles, it does have major issues that needs to be addressed to become a viable solution. Therefore these are important factors to consider when developing gaits and designing robots, and motives further research to try and solve these problems.

Ort, förlag, år, upplaga, sidor
2018. , s. 33
Nyckelord [en]
Human-robot interaction, HRI, Human-like crawling, NAO, Humanoid robots, Locomotion, Crawling gait, Walking gait
Nationell ämneskategori
Datavetenskap (datalogi)
Identifikatorer
URN: urn:nbn:se:lnu:diva-78761OAI: oai:DiVA.org:lnu-78761DiVA, id: diva2:1262334
Ämne / kurs
Datavetenskap
Utbildningsprogram
Programvaruteknik, magisterprogram, 60 hp
Handledare
Examinatorer
Tillgänglig från: 2018-11-19 Skapad: 2018-11-11 Senast uppdaterad: 2018-11-19Bibliografiskt granskad

Open Access i DiVA

fulltext(16525 kB)226 nedladdningar
Filinformation
Filnamn FULLTEXT01.pdfFilstorlek 16525 kBChecksumma SHA-512
2751f77ca2cf2be867e7c417639379733eac9907a6e9950276c7f6d8957ec34e98515e0aac94edcd3de7fcec04173555dceeb9fd0d41b668f14c4f7c1bbe5bd7
Typ fulltextMimetyp application/pdf

Sök vidare i DiVA

Av författaren/redaktören
Aspernäs, Andreas
Av organisationen
Institutionen för datavetenskap och medieteknik (DM)
Datavetenskap (datalogi)

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 226 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

urn-nbn

Altmetricpoäng

urn-nbn
Totalt: 1404 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf