Handoko, Joshua Hadi and Tanaya, Prianggada Indra (2015) Developing a Single Color Recognition Path Planning Using Camera Vision and Lagrange Trajectory Path Planning for Bipedal Robot. Bachelor thesis, Swiss German University.

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Abstract

The objective of this thesis is to develop a vision system for bipedal Robot to follow other robot dynamically and also implementing the basis movement of Lagrange interpolation path planning with using camera vision and without camera vision. Vision system detects the difference of selected colors that are attached on the top of the bipedal robot. The previous work done by Sutrisno Citra uses dual color to recognize the back and front sides of the follower robot, but in this thesis work the follower robot is modified with using only a single color to follow other robot with the different color dynamically. The path planning from previous work is modified to meet the suitable requirement for this single color recognition path planning. For the Lagrange trajectory, the bipedal robots move based on the second order Lagrange polynomial with starting, reference and end points are needed here to generate the new points come from the equation of Lagrange.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Bipedal Robot; Camera Vision; Color Detection And Lagrange Trajectory.
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Atroridho Rizky
Date Deposited:	05 Nov 2020 15:16
Last Modified:	05 Nov 2020 15:16
URI:	http://repository.sgu.ac.id/id/eprint/1509

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