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Dynamic modeling and control of the traloc robotic snake
Student(en):

 Betreuer:

Smith Roy
Beschreibung:

This project builds upon the traloc 2011 Focus Project. The objective is to develop a robotic system that can be used to assist disaster rescue teams in searching for people trapped in debris.

The traloc snake was built and demonstrated in "Rollout" in May 2011 and is available for the development of advanced navigation and control algorithms.

There are several possible directions for SA or MA projects.

  • Modeling of the snake dynamics. Simple two-link models have been developed for 2-D planar operation. These do not yet fully capture friction effects on the dynamics and need to be extended to 3-D and all five links.
  • Estimation of the snake's orientation and configuration from the on-board vision system and joint angle measurements.
  • Creation of high-level command functions. Currently the joints are manipulated individually making manual control non-intuitive.
This list is not comprehensive and interested students are free to propose their own project using this hardware.



Weitere Informationen 		Professor:

Roy Smith
Projektcharakteristik:

Typ:
Art der Arbeit: The project specification will be based on the interests and skills of the student.
Voraussetzungen:
Anzahl StudentInnen: 1 to 2
Status: done
Projektstart: Spring 2012
Semester: Spring 2012