Izrada kapacitivnog senzora za "umjetnu kožu" robota

undergraduate thesis

• Title (english): Development of Capacitive Sensor for the Robot's Artificial Skin
• Author: Morana Pavičić
• Mentor: Bojan Jerbić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2018-09-27, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Čovjek u današnje vrijeme sve više teži automatizaciji i robotizaciji u svim područjima djelatnosti. Iz Tri zakona robotike proizlazi kako je robotski prioritet ne naštetiti čovjeku, što je od iznimne važnosti s obzirom na to da u mnogim procesima robot još uvijek nije u potpunosti autonoman te zahtijeva interakciju s čovjekom. Kontinuiranim razvojem modela interakcije pojednostavljuju se većinom složeni zadaci te se omogućuje intuitivno zadavanje zadataka. Cilj ovog rada je razvoj jednog takvog modela korištenjem jednostavnog sustava senzora koji predstavlja jednu stanicu „umjetne kože“ robota, a temelji se na vanjskim poticajima mjerenim pomoću dvije vrste senzora – kapacitivnog te senzora blizine. Spomenuti sustav senzora spojen je na Arduino Uno mikroračunalo koje je spojeno na robot. Na temelju ulaza (taktilnog podražaja) robot u konačnici reagira odgovarajućim pokretima.

Abstract (english)

Humans today aspire to incorporate automation and robotics in every field of activity. In accordance with the Three Laws of Robotics, robot's priority is not to harm the human operator in any way. This is of utmost importance given that in the majority of processes robot is still not fully autonomous and requires interaction with human operator. With continuous development of human-robot interaction models, many complex tasks are simplified and made more intuitive. The goal of this paper is to develop one such model using a simple sensory system that represents a single cell, based on external stimuli measured by two types of sensors – capacitive and proximity sensor. The aforementioned sensory system is connected to the Arduino Uno microcontroller which is connected to the robot. Based on inputs (external human stimulation), the robot ultimately responds in appropriate movements.

• Keywords: human-robot interaction; artificial robotic skin; sensors
• Keywords (english): interakcija čovjeka i robota; umjetna koža robota; sustav senzora
• Language: croatian
• URN:NBN: urn:nbn:hr:235:128449
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-24 12:54:28