Modeling Humanoid Robots - Revision history

Ceres at 20:46, 8 November 2016

2016-11-08T20:46:16Z

Ceres at 17:23, 18 October 2016

2016-10-18T17:23:53Z

Slawek: Created page with "{{StudentProjectTemplate |Title=Modeling Human Robots |Summary=Masters and Bachelors (Ex/Job) Thesis Project |Author=Walid Taha |Supervisor=Walid Taha, Philippsen |Level=Maste..."

2014-06-23T09:15:39Z

Created page with "{{StudentProjectTemplate |Title=Modeling Human Robots |Summary=Masters and Bachelors (Ex/Job) Thesis Project |Author=Walid Taha |Supervisor=Walid Taha, Philippsen |Level=Maste..."

New page

{{StudentProjectTemplate
|Title=Modeling Human Robots
|Summary=Masters and Bachelors (Ex/Job) Thesis Project
|Author=Walid Taha
|Supervisor=Walid Taha, Philippsen
|Level=Master
|Status=Open
}}
[[File:Humanoid.jpg|thumb|alt=Modeling Human Robots|Modeling Human Robots]]

Highlights:

<ul><li>Mechanics</li>
<li>Sensing</li>
<li>Actuation</li>
<li>Model validation</li>
<li>Specifics: NAO, Acumen.</li>
<li>Supervision: Taha, Philippsen</li>
</ul>

Description:

Cyber-Physical Systems (CPS) is an important research area that is concerned with the way in which many future innovations will involve close coupling of both communicating computational (or cyber) components as well as physical components. Universities around the world are developing courses on CPS, and high-quality case studies and model problems are very important for both the development of these educational programs and for evaluating new CPS tools. At Halmstad, Yingfu Zeng had previously developed a model of a Ping Pong playing robot, which has been used successfully for teaching three editions of the CPS course at Halmstad. The goal of this masters thesis project is to systematically develop the robot from being a simple single-link robot to a humanoid robot.

References:

<ol>
<li>Experiences with A First Course on Cyber-Physical Systems. WESE'13 [http://www.effective-modeling.org/p/publications/conference/wese13.pdf pdf].</li>
<li>Modeling Basic Aspects of Cyber-Physical Systems. DSLRob'12, [http://www.effective-modeling.org/p/publications/conference/dslrob12.pdf pdf].</li>
<li>Yingfu Zeng, Lightweight Three-Dimensional Visualization for Hybrid Systems Simulation, Masters thesis in Embedded and Intelligent Systems, Halmstad University, 2012. [http://www.effective-modeling.org/p/tarballs/2012_11_16_Yingfu.tar Archive] includes thesis document, presentation, and Acumen models and snapshot of a Acumen.</li>
</ol>

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 {{StudentProjectTemplate
 |Summary=Can we model AND simulate robot dynamics using just the Euler-Lagrange equation?
 |Author=Walid Taha
 |Level=Master
 |Status=Open
 }}
 [[File:Humanoid.jpg|thumb|alt=Modeling Human Robots|Modeling Human Robots]]
@@ Line 22: / Line 22: @@
 <b>Description:</b>
-Cyber-Physical Systems (CPS) is an important research area that is concerned with the way in which many future innovations will involve close coupling of both communicating computational (or cyber) components as well as physical components.  Universities around the world are developing courses on CPS, and high-quality case studies and model problems are very important for both the development of these educational programs and for evaluating new CPS tools.  At Halmstad, Yingfu Zeng had previously developed a model of a Ping Pong playing robot, which has been used successfully for teaching three editions of the CPS course at Halmstad.  The goal of this masters thesis project is to systematically develop the robot from being a simple single-link robot to a humanoid robot.
+Cyber-Physical Systems (CPS) is an important research area that is concerned with the way in which many future innovations will involve close coupling of both communicating computational (or cyber) components as well as physical components.  Universities around the world are developing courses on CPS, and high-quality case studies and model problems are very important for both the development of these educational programs and for evaluating new CPS tools.  At Halmstad, Yingfu Zeng had previously developed a model of a Ping Pong playing robot, which has been used successfully for teaching three editions of the CPS course at Halmstad.  The goal of this masters thesis project is to systematically develop the robot from being a simple single-link robot to a humanoid robot. The research question is whether it is feasible to a) express Euler/Lagrange models of robotic systems in mainstream reachability analysis tools (SpaceEx, Flow*, Acumen) in a way that is close to the natural mathematical formalism, and b) whether it is possible to attain convergent enclosures for stable periodic orbits of such robots. The work will start with learning about SpaceEx, Flow*, and Acumen's enclosure semantics. Then, it will move to building a collection of benchmarks expressed mathematically and then expressed in the various languages. The languages will then be compared in terms of expressivity. This involves close interaction with the professor and then (with the professor's approval) communication with the authors of these tools. Then, enclosures from the three systems will be gathered in a way that facilitates comparison. Once this data is collected, an analysis will be conducted in close collaboration with the professors. Preliminary results from this work will be written, the the professor will circulate to other researchers involved with these tools for preliminary external feedback. The thesis document can then be finalized and presented.
-−
-−
-<b>References:</b>
-−
-<ol>
-<li>Experiences with A First Course on Cyber-Physical Systems.  WESE'13 [http://www.effective-modeling.org/p/publications/conference/wese13.pdf pdf].</li>
-<li>Modeling Basic Aspects of Cyber-Physical Systems.  DSLRob'12, [http://www.effective-modeling.org/p/publications/conference/dslrob12.pdf pdf].</li>
-<li>Yingfu Zeng, Lightweight Three-Dimensional Visualization for Hybrid Systems Simulation, Masters thesis in Embedded and Intelligent Systems, Halmstad University, 2012.  [http://www.effective-modeling.org/p/tarballs/2012_11_16_Yingfu.tar Archive] includes thesis document, presentation, and Acumen models and snapshot of a Acumen.</li>
-</ol>