Development of a jumping robot | |
| Author | Wickramatilake, Rajapaksha Mudiyanselage Tharaka Theekshana |
| Call Number | AIT Caps Proj no.ME-15-36 |
| Subject(s) | Robots--Control systems Robots--Kinematics Mobile robots Jumping |
| Note | A capstone project report submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-15-36 |
| Abstract | Jumping is one of the popular and efficient ways of going through rough terrain. Even though making something jump is easy it is really hard make sure it stabilizes it self for the second jump. As an initiative for the project I have started with working on the first phase which is the stabilizing part. Since doing tests while jumping is hard most of the experiments have been conducted in controlled environments. One of the most important part is taking an error less feedback so that this unstable system can be controllable. I have started by showing errors in sensors such as accelerometers and gyros. Reasoning those errors are one of the most important part of this project. Next a PID controller is used to actuate the flywheels so that the system can stay stable. I have used system identification methods and PID tuning methods to get the optimal gains for the controller. The system was able to stabilize using those gains which were calculated. Even though the system was able to balance in a controlled environment when it started jumping the values from the sensors started getting an huge error. Because of that the control system was unable to work parallelly with jumping. |
| Year | 2015 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-15-36 |
| Type | Capstone Project |
| School | School of Engineering and Technology |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Mongkol Ekpanyapong;Bohez, Erik L. J.; |
| Degree | Capstone Project (B. Sc.) - Asian Institute of Technology, 2015 |
| Contributor(s) | Robots--Control systems; Robots--Kinematics; Mobile robots; Jumping |