Instrumentation, Modeling and Control of AAU-BOT1

Studenteropgave: Kandidatspeciale og HD afgangsprojekt

  • Per Kingo Jensen
  • Mathias Ramskov Garbus
  • Jan Vestergaard Knudsen
The aim of this master's thesis is to equip the humanoid robot AAU-BOT1 with sensors, model and control it such that it can obtain static gait. AAU-BOT1 has human proportions and features 17 actuated degrees of freedom. To enable AAU-BOT1 to obtain static gait, an instrumentation strategy has been proposed and implemented. Furthermore a software platform is developed to complete the instrumentation. Models of the DC-motors, kinematics, inverse kinematics and the dynamics of AAU-BOT1 have been made. By utilizing the inverse kinematic model, static gait trajectories are developed. The remaining models are utilized to create two different control strategies. The first control strategy is based on a Linear Quadratic Gaussian controller(LQG), which controls the posture of the robot based on the dynamic model. The second control strategy is based on classical PID controllers, and utilizes the build in features of the digital DC motor amplifiers. Both control strategies contains a balance controller, that is used to maintain stability during walk. It is furthermore decided to develop a virtual representation of the AAU-BOT1 for test purposes. The LQG controller strategy with the proposed trajectories was tested on the virtual AAU-BOT1 but the controller could not stabilize the robot sufficiently. The second control strategy was successful and the virtual robot is able to walk with the proposed trajectories and maintain stability at the same time. The second control strategy was only partially implemented on the physical AAU-BOT1 and showed promising results of obtaining static walk.
Antal sider223
Udgivende institutionAAU
ID: 14466612