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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.

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Skibot 1.0, a Poling Cross-Country Skiing Robot

Kalliorinne, Otto January 2022 (has links)
This thesis project covers the development of a cross country skiing robot, with the purpose of being used as an instrument for measuring gliding properties of skis. The robot used in total 4 servomotors to control the motion of right and left arms with poles attached. A general movement pattern generator was developed to construct patterns that resemble the one of a human hand during poling. The final robot is able to generate a poling motion resulting in a forward propulsion, but further development to the design has to be made to use the robot for its intended purpose.
Coordinate frame
Direction cosines
ZMP
GPS
DOF
SMC
Fuzzy logic
DC-motor
UART
I2C
Microcontroller
Robotics
Robotteknik och automation

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