Feedback

Faculté des Sciences appliquées
Faculté des Sciences appliquées
MASTER THESIS
VIEW 60 | DOWNLOAD 19

Simulation of complex actuators

Download
Woszczyk, Hubert ULiège
Promotor(s) : Boigelot, Bernard ULiège
Date of defense : 27-Jun-2016/28-Jun-2016 • Permalink : http://hdl.handle.net/2268.2/1446
Details
Title : Simulation of complex actuators
Translated title : [fr] Simulation d'actuateurs complexes
Author : Woszczyk, Hubert ULiège
Date of defense  : 27-Jun-2016/28-Jun-2016
Advisor(s) : Boigelot, Bernard ULiège
Committee's member(s) : Bruls, Olivier ULiège
Donnet, Benoît ULiège
Detry, Renaud ULiège
Language : English
Number of pages : 61
Keywords : [en] V-Rep
[en] Newton Dynamics
[en] Robotics
[en] RoboCup
[en] Rigid body physics simulation
Discipline(s) : Engineering, computing & technology > Electrical & electronics engineering
Target public : Student
General public
Institution(s) : Université de Liège, Liège, Belgique
Degree: Master en ingénieur civil électricien, à finalité approfondie
Faculty: Master thesis of the Faculté des Sciences appliquées

Abstract

[en] The word 'robot' has been crafted by Czech writer Karel Čapek in the beginning of the 20th century and is derived from the slavic world 'robota' which means 'work', as in 'there is work to be done'. Much has changed since those days, and this master's thesis is about robots who prefer to play football rather than work in factories. This manuscript is the result of the planned participation of a team of students to the 'RoboCup' contest. A team of humanoid robots needs to be built and with several design choices still open we cannot begin building a prototype. To avoid time expensive real-life experiments, a simulation tool able of modelling the interaction of a robot with a physical world is needed. We will take a survey of the existing simulators and choose the one that fits our needs best before using it to perform some basic simulations on the model of our robot. These simulations are used to detect design flaws that made the robot unable to stand up from a prone position or unable to walk. The end result of this work is the design of a robot that is able to stand, walk and stand up when toppled over. Furthermore, this report serves as confirmation of various design decisions that were made beforehand such as the choice of the MX-28R as the servomotor to be used in the robot's joints.


File(s)

Document(s)

File
Access abstract.pdf
Description:
Size: 177.21 kB
Format: Adobe PDF
File
Access tfe_HubertWoszczyk.pdf
Description:
Size: 2.26 MB
Format: Adobe PDF

Author

  • Woszczyk, Hubert ULiège Université de Liège > Master ingé. civ. électr., fin. appr. (ex 2e master)

Promotor(s)

Committee's member(s)

  • Bruls, Olivier ULiège Université de Liège - ULg > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
    ORBi View his publications on ORBi
  • Donnet, Benoît ULiège Université de Liège - ULg > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Algorithmique des grands systèmes
    ORBi View his publications on ORBi
  • Detry, Renaud ULiège Université de Liège - ULg > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Dép. d'électric., électron. et informat. (Inst.Montefiore)
    ORBi View his publications on ORBi
  • Total number of views 60
  • Total number of downloads 19










All documents available on MatheO are protected by copyright and subject to the usual rules for fair use.
The University of Liège does not guarantee the scientific quality of these students' works or the accuracy of all the information they contain.