Màster universitari en Automàtica i Robòtica
Recent Submissions
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Motion coordination of a mobile anthropomorphic dual-arm robot for manipulation actions using visual-guidance
(Universitat Politècnica de Catalunya, 2024-10-01)
Master thesis
Open AccessDual-arm robotic manipulation using visual guidance poses many challenges in order to actu- ally perform manipulation tasks with enough efficiency. The motion coordination and synch- ronization of arms or working in ... -
Control of an anthropomorphic robotic hand for grasping and manipulation tasks
(Universitat Politècnica de Catalunya, 2024-10-01)
Master thesis
Open Access
Covenantee: Universitetet i AgderThis project focuses on the development of a robust software solution for controlling the Allegro anthropomorphic robotic hand in robotic grasping and manipulation tasks. The aim is to en- hance the hand’s capabilities ... -
Enhanced Sliding Mode Controls for Autonomous Vehicles
(Universitat Politècnica de Catalunya, 2024-06)
Master thesis
Open AccessThis paper presents a solution to the steering and acceleration control of autonomous vehicles. Two parametric physics-based models, kinematic and dynamic, are developed for four-wheeled rear-wheel drive vehicles. A nonlinear ... -
Modeling and control using feedback linearization of a Quanser Aero 2 device
(Universitat Politècnica de Catalunya, 2024-07-15)
Master thesis
Open AccessThis document presents the design of a dynamic model and the implementation of a control system based on LQR (Linear Quadratic Regulator) for a laboratory equipment called Twin Rotor. The linearization of the system is ... -
Design of a DC/DC step-up converter for a racing motorcycle
(Universitat Politècnica de Catalunya, 2024-07-15)
Master thesis
Open AccessThis thesis reviews existing literature on different boost converter configurations and their suitability for electric vehicle applications. It then presents the design, simulation and testing of a high-efficiency boost ... -
Reinforcement learning for biped locomotion
(Universitat Politècnica de Catalunya, 2024-07-15)
Master thesis
Open Access
Covenantee: Pal RoboticsAquest projecte se centra en el desenvolupament i la implementació de tècniques d’aprenentatge per reforç (RL) per aconseguir una locomoció bípeda robusta i natural en robots humanoides. Utilitzant el simulador Isaac Gym ... -
Enhancing command interfaces: design and construction of a multimaterial 3D-printed control device
(Universitat Politècnica de Catalunya, 2024-07-12)
Master thesis
Open AccessAquest projecte pretén millorar la interacció humà-ordinador mitjançant el desenvolupament de sensors multimaterial impresos en 3D, centrant-se específicament en el disseny i construcció d'un dispositiu de control. El ... -
Scenario-based MPC with adaptative set membership identification
(Universitat Politècnica de Catalunya, 2024-07-12)
Master thesis
Open Access
Covenantee: *Aquest projecte aborda el problema del Adapting Control desenvolupant un algorisme que implementa el marc d’identificació del Set Membership dins del problema d’optimització de la tècnica Scenario-Based Model Predictive ... -
Assessment of an open-source software (MoveIt) for robotics teaching and its applications to the Master’s degree in automatic control and robotics
(Universitat Politècnica de Catalunya, 2024-07-12)
Master thesis
Open AccessEl present treball pretén fer una investigació sobre la planificació de rutes i la manipulació de robots utilitzant el programari MoveIt, per al posterior estudi de les seves aplicacions en el Màster de Control Automàtic ... -
Grapevine reconstruction and pruning points identification based on Deep Learning
(Universitat Politècnica de Catalunya, 2024-05-16)
Master thesis
Open AccessDespite the growing prevalence of robotics in agriculture, there is still a limited amount of research specifically targeting the automation of grapevine management. Due to the complexity, the pruning task during the dormant ... -
Acceleration compensation of an armed mobile robot for transportation of fluids
(Universitat Politècnica de Catalunya, 2024-05-09)
Master thesis
Open Access
Covenantee: ModpoWThis thesis develops an acceleration compensation algorithm for an armed mobile robot, meticulously based on the foundational work by S. J. Chen and colleagues, who studied methods to reduce fluid sloshing during robotic ... -
Implementation of multiple collaborative agents using reinforcement learning
(Universitat Politècnica de Catalunya, 2024-02-09)
Master thesis
Open AccessThe aim of this thesis is to explore the possibilities and capabilities of machine learning (ML), more specifically reinforcement learning (RL) within a 3D digital environment. By utilizing the Unity’s ML-Agents toolkit, ...
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