Rocking the Bongo Board: Humanoid Robotic Balancing on Dynamic Terrain
| dc.contributor.author | Iverach-Brereton, Christopher James | |
| dc.contributor.examiningcommittee | Anderson, John (Computer Science) McNeill, Dean (Electrical & Computer Engineering) | en_US |
| dc.contributor.supervisor | Baltes, Jacky (Computer Science) | en_US |
| dc.date.accessioned | 2015-09-18T14:20:44Z | |
| dc.date.available | 2015-09-18T14:20:44Z | |
| dc.date.issued | 2015 | |
| dc.degree.discipline | Computer Science | en_US |
| dc.degree.level | Master of Science (M.Sc.) | en_US |
| dc.description.abstract | This thesis presents a comparison of multiple control algorithms designed to allow a robot to balance on unstable terrain. To evaluate these algorithms I use a bongo board, a simple apparatus consisting of a deck positioned above a free-rolling wheel. I program a small humanoid robot to stand on the deck, controlling its pose to keep the deck from falling off the wheel. I implement three different control algorithms, derived from solutions to the well-known cart-and-rod inverted pendulum problem, including PID control, Fuzzy Logic, and Always-On Artificial Neural Networks. These algorithms are used with two different control policies: Do the Shake, where the robot reacts to external forces and Let's Sway, where the robot introduces a rhythmic oscillation to the system to promote dynamic stability. Using identical experimental conditions with a physical robot, I show that both PID and Fuzzy Logic control are well-suited to active balancing on unstable terrain. | en_US |
| dc.description.note | October 2015 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1993/30828 | |
| dc.language.iso | eng | en_US |
| dc.rights | open access | en_US |
| dc.subject | Humanoid robotics, Active balancing, Dynamic terrain, Inverted pendulum, PID control, Fuzzy logic, Artificial neural networks | en_US |
| dc.title | Rocking the Bongo Board: Humanoid Robotic Balancing on Dynamic Terrain | en_US |
| dc.type | master thesis | en_US |
| local.subject.manitoba | yes | en_US |