Blar i NTNU Open på forfatter "Shiriaev, Anton"
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2-D Passive Compass Biped Walker: Analysis and Robustness of Stable Gait
Anstensrud, Torleif (Master thesis, 2013)The compass-gait biped is a deceptively simple walking machine that is often used as a standard benchmark for testing new concepts and methods in legged locomotion. This study will focus on developing a procedure for finding ... -
A Search for Walking Gaits, Stability Analysis and Parameter Estimation of a Three Link Biped
Anicic, Damir (Master thesis, 2016)Finne realiserbare gåbevegelser, utforske matematiske modeller for stabilitetsanalyse og kontrolldesign, og finne fysiske parametere for en tobent robot -
Alternate representation of butterfly robot
Murad, Zacharias Ahron Ovesen (Master thesis, 2018)This paper focus on the challenging tasks of controlling underactuated systems. A well known example is the butterfly robot, where the task is to have continuous rotation of the plates without losing contact between ball ... -
Analyzing Motions of Unicycles and Car-Like Vehicles
Tvetmarken, Stian Aleksander (Master thesis, 2012)Two configurations for a unicycle, a class of nonholonomic systems, is looked into. The first configuration is the case where the generalized coordinates consists of four parameters, while the other configurations consists ... -
APPLICATION OF THE THEORY OF THE MULTICOMPONENT DRY FRICTION IN SOME OF CONTROL ROBOT SYSTEMS
Kireenkov, Alexey A.; Fedotenkov, Grigory V.; Shiriaev, Anton; Zhavoronok, Sergey I. (Journal article; Peer reviewed, 2022)The implementations of the theory of multicomponent dry friction [1-19] for analyze the dynamics of some robotic systems, such as a butterfly robot [16-18, 20] or a humanoid robot is proposed. Since the main controlled ... -
Automatisk håndtering av fisk ved bruk av kraftregulering og griperoptimalisering
Hammerdal, Asle (Master thesis, 2015)Norge er i en særposisjon både med tanke på økonomi og geografisk posisjon i forhold til fiskeindustri. Behovet for automatisert håndtering av fisk øker i takt med lønningsnivåene. I denne masteroppgaven har det blitt ... -
Calibrating Robotic Systems: The Case Study Of The Butterfly Robot
Tønnessen, Tor Arve (Master thesis, 2021)"Sommerfugl" - roboten er et referansesystem for uttesting av unlineære reguleringsmetoder og algoritmer for bevegelsesplanlegging, og dens dynamikk er komplisert. Grunnet dynamikkens kompleksitet, er det nødvendig med ... -
Case study research: the Butterfly Robot
Lund, Oskar Rømyhr (Master thesis, 2018)Robots that can only manipulate objects by grasping are very restricted and limited in their actions. Nevertheless, manipulation by grasping remains a common feature for robots, as it is the easiest way to always maintain ... -
Case study research: the ”Butterfly” robot
Edlund, Mikal (Master thesis, 2019)For at roboter skal ha en sjanse til a komme nær mennesket når det gjelder manipulering av objekter, ma de benytte seg av mer enn bare å gripe for å manipulere objekter. Dette er der utvikling av ikke-gripende manipulering ... -
Consistent kinematics and dynamics calibration of lightweight redundant industrial manipulators
Kolyubin, Sergey; Shiriaev, Anton; Jubien, Anthony (Journal article; Peer reviewed, 2018)Absolute accuracy is one of industrial manipulator’s key performance characteristics, which is critical for emerging robotics applications such as laser cutting, riveting, and carbon fiber placement as well as for many ... -
Contributions to Trajectory Planning and Control for Industrial and Service Robotics
Pchelkin, Stepan (Doctoral theses at NTNU;2017:354, Doctoral thesis, 2017)This thesis describes several contributions to some classical and new problems in robotics that appear in motion and trajectory planning, motion and trajectory representation, and motion control where we suggest new ... -
Creation and Control of Gaits for the SemiQuad Robot
Hareide, Harald (Master thesis, 2014)The first part of the thesis consisted of the creation of a mathematic model of the SemiQuad robot, and the exploration and discovery of suitable walking motions.The second part of the thesis consisted in using the walking ... -
Develop and Implement Force Control Experiments using an Industrial Robot Manipulator
Havikhagen, Erik (Master thesis, 2016)In the last few decades there has been a large increase in industrial robots used in the machining industry. Industrial robots replaces manual labor in tedious tasks, and increases the level of precision of the process. ... -
Developing Energy Efficient Scenarios of Work for Industrial Robot Manipulators
Breistøl, Kristian (Master thesis, 2015)In industry there is a constant need to make solutions that are more efficient, reduces risk and reduces the impact on the environment. In order to achieve this we see a rapid increase in use of automatic production. ... -
Developing Force Control Scenarios on ABB IRB 4600 with Camera Capture of Dynamic Motions
Kvernberg, Petter (Master thesis, 2015)Finishing processes are among the earliest applications of industrial robots. Therefore, machining with the help of robot technology is widely used in industries today. The potential of increasing the efficiency and ... -
Developing New Abilities for Exoskeletons
Steinsholt, Vebjørn (Master thesis, 2022)I dette prosjektet ble det forsøkt på finne gode baner for bevegelser der én utfører sitt-ned-bevegelser iført et eksoskjelett og å finne en kontroller som klarer å stabilisere disse banene På grunn av en sen endring i ... -
Developing New Abilities for Humanoid Robots: How to Plan/Control a Sit-Down
Kalia, Oscar Ram (Master thesis, 2020)Denne rapporten omhandler biped humanoide roboter og utvikling av nye evner for disse, med fokus på å trygt sette seg ned. Modellering, planlegging og analyse av denne bevegelsen er utført, ved å bruke en simplifisert ... -
Excessive Transverse Coordinates for Orbital Stabilization of (Underactuated) Mechanical Systems
Sætre, Christian Fredrik; Shiriaev, Anton; Pchelkin, Stepan; Chemori, Ahmed (Chapter, 2020)Transverse linearization-based approaches have become among the most prominent methods for orbitally stabilizing feedback design in regards to (periodic) motions of underactuated mechanical systems. Yet, in an n-dimensional ... -
Issues in Trajectory planning and controlling an industrial Robot's Tool position for accurate passage through sharp Corners of a nominal Path
Strandbråten, Eirik Lie (Master thesis, 2015)Robot replaces manual labor all over the world every day. The demand for robots is extremely high in the ever growing automated society. The purpose of this master thesis is to improve the performance of an industrial robot ... -
Methodological advances for the quantification of body movement and concurrently measured brain activity of exergame players
Anders, Phillipp (Doctoral theses at NTNU;2021:64, Doctoral thesis, 2021)The aging population and a projected decline in the number of healthcare personnel necessitate the development and increased use of health technology to halt or delay functional decline in older adults connected to aging. ...