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Supervision of an Humanoid Robot
| dc.contributor | Alenyà Ribas, Guillem |
| dc.contributor | Puig Cayuela, Vicenç |
| dc.contributor.author | Angarano, Giulia |
| dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
| dc.date.accessioned | 2018-08-02T08:23:50Z |
| dc.date.available | 2018-08-02T08:23:50Z |
| dc.date.issued | 2018-06-21 |
| dc.identifier.uri | http://hdl.handle.net/2117/120457 |
| dc.description.abstract | In this master thesis, the problem of supervision of an humanoid robot will be addressed. First, a model of the robot will be developed. Then, a fault detection and isolation scheme will be implemented using the linear parameter varying (LPV) approach. Finally, a fault tolerant scheme will be implemented to compensate the faulty effect, once the fault has been detected and isolated. The proposed approach will be tested in simulation and on a real humanoid platform. |
| dc.language.iso | eng |
| dc.publisher | Universitat Politècnica de Catalunya |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
| dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
| dc.subject.lcsh | Automatic control |
| dc.subject.lcsh | Robotics |
| dc.title | Supervision of an Humanoid Robot |
| dc.type | Bachelor thesis |
| dc.subject.lemac | Control automàtic |
| dc.subject.lemac | Robòtica |
| dc.identifier.slug | ETSEIB-240.136259 |
| dc.rights.access | Open Access |
| dc.date.updated | 2018-07-12T05:24:15Z |
| dc.audience.educationlevel | Grau |
| dc.audience.mediator | Escola Tècnica Superior d'Enginyeria Industrial de Barcelona |
| dc.audience.degree | MOBILITAT INCOMING |
| dc.description.mobility | Incoming |
