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dc.contributorAngulo Bahón, Cecilio
dc.contributorVelasco García, Manel
dc.contributor.authorGuasch Iglesias, Joan
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.description.abstractTaking as a reference the open source 3D printed robot called ''Poppy'' ( this project aims to develop a new biped robot platform using standard size servomotors. To accomplish this project is required to design a new structure to be able to host the chosen motors and also add a new degree of freedom for each leg, in order to obtain a 12 DoF robot. The next objetive is the modelling and simulation. For that purpose Gazebo simulator will be used to provide the option to be controlled with ROS. In addition various sensors will be added to the model, in order to obtain the feedback necessary for the control algorithm, which is the last objetive of this project.
dc.publisherUniversitat Politècnica de Catalunya
dc.subjectÀrees temàtiques de la UPC::Informàtica
dc.subject.lcshRobots -- Design and construction
dc.subject.lcshThree-dimensional printing
dc.titleDesign, modelling and control of a biped robot platform based on Poppy project
dc.typeMaster thesis
dc.subject.lemacRobots -- Disseny i construcció
dc.subject.lemacImpressió tridimensional
dc.rights.accessOpen Access
dc.audience.mediatorEscola Tècnica Superior d'Enginyeria Industrial de Barcelona

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