Basketball spielen mit anthropomorphen Robotern

Abstract

The aim of this thesis is to develop a ball dribbling controlscheme for the DLR Light Weight Robot III. Based on an analysis of the human dribbling motion patterns and a physical ball model, inferable requirements for the robot, their consequences and solutions are discussed. Consequently, a simplified one-dimensional simulation model, serving as groundwork for all further models is examined. The ball behavior is analysed and the suitability of the model is outlined. In an extension to a two-dimensional simulation two different hand models are introduced and investigated. Furthermore, the concept of impedance control is used in this model to achieve compliant behavior as a fundamental demand for safe human robot interaction. After evaluating the two-dimensional hand models the construction of a mechanical hand prototype is accomplished. The simulation is finally extended to three dimensions, taking constraints into account that occurred during construction.