Tehnoloogiainstituut

Selle valdkonna püsiv URIhttps://hdl.handle.net/10062/42114

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Flexible Screen Integration and Development of Neck Movement Mechanism for Social Humanoid Robot SemuBot
(Tartu Ülikool, 2024) Kurenkov, Nikita; Kruusamäe, Karl, juhendaja; Tartu Ülikool. Loodus- ja täppisteaduste valdkond; Tartu Ülikool. Tehnoloogiainstituut
Effective communication and interaction are pivotal for integrating humanoid robots into human-centric environments. Central to the functionality of a social humanoid robot is its ability to engage with humans through facial expressions and neck movement gestures. This thesis focuses on the critical task of designing and implementing solutions for the face of a humanoid robot and developing a corresponding neck mechanism to enhance the communicative abilities of humanoid robots. The research entails designing, experimenting, and integrating a work solution for a humanoid robot's face and neck mechanism of a social humanoid robot, SemuBot. The project uses computer-aided design modelling and 3D printing. The implementation involves utilising specialised hardware such as flexible screens, stepper motors for neck actuation, and microcontrollers for seamless integration and control. Additionally, the development process involves iterative design, testing, and integration of the flexible screen and neck mechanism. This work culminates in presenting a functional prototype, demonstrating the proposed facial and neck mechanism solutions' efficacy in enhancing the robot's social interaction capabilities and overall human-like appearance.
Holonomic Motion Drive System of a Social Humanoid Robot SemuBot
(2024) Narbuts, Georgs; Raudmäe, Renno, juhendaja; Baksh, Farnaz, juhendaja
The perception of a humanoid robot largely depends on its ability to mimic human-like movement, including changing its position in space. This thesis conducts a comprehensive literature review of existing humanoid robot wheelbases, holonomic motion drive systems and manufacturing methods, identifying the most appropriate solution of a wheelbase for use in the social humanoid robot SemuBot. The proposed open-source wheelbase grants holonomic motion, for which omnidirectional omni-ball wheels were designed and manufactured. It can locomote in environments made for humans and traverse obstacles. An electrical system was put in place to test the capabilities of the prototype. The wheelbase is designed to be integrated with other components made for the humanoid robot SemuBot.
Remote monitoring and data collection for 3D printing
(2021) Erelt, Richard
This paper gives a comprehensive guide on how to build a custom 3D printing monitoring system. It provides an overview of common failures occurring during 3D printing. It also maps out the available 3D printer monitoring systems.
Rhea: An open-source table tennis ball launcher robot for multiball training
(Tartu Ülikool, 2024) Peedimaa, Märten Josh; Mõtshärg, Eva; Pihlap, Meelis; Tartu Ülikool. Loodus- ja täppisteaduste valdkond; Tartu Ülikool. Tehnoloogiainstituut
Multiball training is a commonly used technique by table tennis athletes to enhance their skill and performance. Existing commercial robot solutions for this purpose are closed source, making repairs and modifications challenging. Whilst non-commercial solutions do exist, they are limited in capability, and none are specifically made with multiball training and replicability in mind. This thesis documents the development of an open-source table tennis ball launcher robot named Rhea for the use of multiball training. The work analyses the robot’s accuracy compared to a commercial robot. The work shows, that Rhea is suitable for multiball training and is comparable to a commercial solution.

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