Kunze, Mirko (2009) Basketball spielen mit anthropomorphen Robotern. DLR-Interner Bericht. DLR-IB 515-2009/18. Bachelor's. TU Ilmenau. 89 S.
PDF
- Only accessible within DLR
3MB |
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.
Item URL in elib: | https://elib.dlr.de/61672/ | ||||||||
---|---|---|---|---|---|---|---|---|---|
Document Type: | Monograph (DLR-Interner Bericht, Bachelor's) | ||||||||
Title: | Basketball spielen mit anthropomorphen Robotern | ||||||||
Authors: |
| ||||||||
Date: | 2 June 2009 | ||||||||
Open Access: | No | ||||||||
Number of Pages: | 89 | ||||||||
Status: | Published | ||||||||
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 |
Repository Staff Only: item control page