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Reproduction of Observed Trajectories Using a Two-Link Robot

Taqi, Sarah M A M

Abstract Details

2011, Master of Science, Ohio State University, Electrical and Computer Engineering.
The objective of this thesis is to present how the human body may perceive the direction and velocity of one-dimensional motion and how it may reproduce a visually observed motion via the neuro-musculo-skeletal system. First, an algorithm for the detection and estimation of the direction and velocity of a moving object in a single direction in a plane subspace is presented and tested by computer simulation. Second, the reproduction of a visually observed motion is formulated. The focus of this thesis is on a robot simulation that may mimic the human-system processing while reproducing a visually observed motion. First, the observed motion is recorded in the memory of the robot with a neuro-musculo-skeletal system. Second, the thigh and leg trajectory calculations are implemented. Third, the robot executes the motion using its two-link foot. The executed movement should have the same velocity and size as the observed motion. A model of a two-link thigh and leg is formulated and it is controlled to describe a circular motion at the end point of the two-link foot. The two-link foot is not constructed, but controlled and stabilized using computer simulation. The thesis aims to contribute to the understanding of the human central nervous system processing.
Hooshang Hemami, Prof. (Advisor)
Bradley Clymer, Prof. (Committee Member)
118 p.

Recommended Citations

Citations

  • Taqi, S. M. A. M. (2011). Reproduction of Observed Trajectories Using a Two-Link Robot [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1308031627

    APA Style (7th edition)

  • Taqi, Sarah. Reproduction of Observed Trajectories Using a Two-Link Robot. 2011. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1308031627.

    MLA Style (8th edition)

  • Taqi, Sarah. "Reproduction of Observed Trajectories Using a Two-Link Robot." Master's thesis, Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1308031627

    Chicago Manual of Style (17th edition)