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Robot Door Opening.
KTH, School of Computer Science and Communication (CSC).
KTH, School of Computer Science and Communication (CSC).
2012 (English)Independent thesis Advanced level (professional degree), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

In this thesis, the problem of a robot opening a door is simulated in a virtual environment. The environment used is OpenRAVE, with parts of the physics simulations written in Python. In order to solve the problem, a dynamic force/velocity controller is used to open doors that have trajectories that are unknown to the robot beforehand. The performance of this controller is tested with different control gains and starting guesses, though the results did not give a full understanding of how well it actually worked. For a complete understanding, more testing would be required.

Abstract [sv]

I den här rapporten undersöks problemet med att en robot öppnar en dörr, i en simulerad miljö. Miljön som används är OpenRAVE, förutom en del av fysiksimuleringarna som är skrivna i Python. För att lösa problemet används en dynamisk kraft/hastighet-controller som även klarar dörrar där roboten inte känner till dörrarnas rörelsebanor i förväg. Controllerns framgång testas med olika värden och startgissningar, men resultaten gav inte någon klar bild av hur bra den faktiskt fungerade. För att få en komplett bild skulle kräva mer testning.

Place, publisher, year, edition, pages
2012.
Series
Kandidatexjobb CSC, K12023
National Category
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-131028OAI: oai:DiVA.org:kth-131028DiVA: diva2:654474
Educational program
Master of Science in Engineering - Computer Science and Technology
Uppsok
Technology
Supervisors
Examiners
Available from: 2013-10-07 Created: 2013-10-07

Open Access in DiVA

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Other links

http://www.csc.kth.se/utbildning/kandidatexjobb/datateknik/2012/rapport/fahlen_erik_OCH_sunesson_josef_K12023.pdf
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School of Computer Science and Communication (CSC)
Computer Science

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CiteExportLink to record
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Citation style
  • apa
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Output format
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