Saved in:
| Main Author: | |
|---|---|
| Format: | Recurso digital |
| Language: | German |
| Published: |
Zenodo
2010
|
| Online Access: | https://doi.org/10.5281/zenodo.17350232 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866901420543836160 |
|---|---|
| author | Yüksel, Mehmed |
| author_facet | Yüksel, Mehmed |
| contents | <p>In this master's thesis, an intelligent symbiotic wheel sensor system was designed and developed for the wheel of a hybrid leg-wheel robot from the ASGuard family. This wheel sensor system will be used in the next generation of wheel designs for this robot family, which has already been developed at the DFKI-RIC (German Research Center for Artificial Intelligence - Robotics Innovation Center) in Bremen.<br>The sensor data from the intelligent wheel sensor system developed in this thesis will enable improvements in the robot's driving behavior. Precise status information about the wheel can help to achieve better drive control and anti-slip control for ASGuard. The meaningful auxiliary information from the wheel sensor system can be used in conjunction with other sensor information from the robot for ground detection, among other things. The embedded design of the sensor system allows for a better measuring position and protection against unwanted interference. This highlights the advantages of symbiotic sensor technology. Symbiosis is used in this work in the sense that both the moving part (in this case the wheel) and the embedded sensor system benefit from their position and location in relation to each other in terms of their function. The wheel sensor system receives information for detecting ground contact with the help of the foot sensors and information about the forces acting on the wheel with the help of the force sensors on the legs of the wheel. This sensor data is transmitted directly and wirelessly to the robot from the sensor system of each wheel.</p> |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_17350232 |
| institution | Zenodo |
| language | deu |
| publishDate | 2010 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | Entwicklung und Aufbau einer intelligenten symbiotischen Radsensorik zur Nutzung auf einem hybriden Bein-Rad Roboter Yüksel, Mehmed <p>In this master's thesis, an intelligent symbiotic wheel sensor system was designed and developed for the wheel of a hybrid leg-wheel robot from the ASGuard family. This wheel sensor system will be used in the next generation of wheel designs for this robot family, which has already been developed at the DFKI-RIC (German Research Center for Artificial Intelligence - Robotics Innovation Center) in Bremen.<br>The sensor data from the intelligent wheel sensor system developed in this thesis will enable improvements in the robot's driving behavior. Precise status information about the wheel can help to achieve better drive control and anti-slip control for ASGuard. The meaningful auxiliary information from the wheel sensor system can be used in conjunction with other sensor information from the robot for ground detection, among other things. The embedded design of the sensor system allows for a better measuring position and protection against unwanted interference. This highlights the advantages of symbiotic sensor technology. Symbiosis is used in this work in the sense that both the moving part (in this case the wheel) and the embedded sensor system benefit from their position and location in relation to each other in terms of their function. The wheel sensor system receives information for detecting ground contact with the help of the foot sensors and information about the forces acting on the wheel with the help of the force sensors on the legs of the wheel. This sensor data is transmitted directly and wirelessly to the robot from the sensor system of each wheel.</p> |
| title | Entwicklung und Aufbau einer intelligenten symbiotischen Radsensorik zur Nutzung auf einem hybriden Bein-Rad Roboter |
| url | https://doi.org/10.5281/zenodo.17350232 |