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Basketball spielen mit anthropomorphen Robotern

Kunze, Mirko (2009) Basketball spielen mit anthropomorphen Robotern. DLR-Interner Bericht. DLR-IB 515-2009/18. Bachelor's. TU Ilmenau. 89 S.

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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.

Item URL in elib:https://elib.dlr.de/61672/
Document Type:Monograph (DLR-Interner Bericht, Bachelor's)
Title:Basketball spielen mit anthropomorphen Robotern
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:2 June 2009
Open Access:No
Number of Pages:89
Keywords:Basketball, anthropomorphe, Roboter,
Institution:TU Ilmenau
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Laskey, Jessica
Deposited On:15 Dec 2009 16:31
Last Modified:12 Dec 2013 20:48

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