{"id":260,"date":"2019-07-18T19:48:04","date_gmt":"2019-07-18T19:48:04","guid":{"rendered":"http:\/\/localhost\/ivan\/wordpress\/?page_id=260"},"modified":"2025-06-29T14:01:17","modified_gmt":"2025-06-29T14:01:17","slug":"masters-in-robotics","status":"publish","type":"page","link":"https:\/\/ivanekman.com\/index.php\/projects\/masters-in-robotics\/","title":{"rendered":"Master of Science, Robotics &#8211; University of Sao Paulo"},"content":{"rendered":"\n<figure class=\"wp-block-video\"><video height=\"900\" style=\"aspect-ratio: 1200 \/ 900;\" width=\"1200\" controls src=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2023\/02\/Sim_p_ip.mp4\"><\/video><figcaption class=\"wp-element-caption\">Push Recovery<\/figcaption><\/figure>\n\n\n\n<p>Dissertation: <a href=\"https:\/\/www.teses.usp.br\/teses\/disponiveis\/3\/3152\/tde-20012021-165557\/en.php\" target=\"_blank\" rel=\"noreferrer noopener\">Biped Gait Controller With Active Perturbation<\/a><\/p>\n\n\n\n<p>\n\nRobots can aid humans in various activities: the aging society can benefit from robot companions; robots  can be used in hazardous situations, such as firefighting or working on radioactive environments; or they could be used to increase efficiency or reduce costs of regular tasks such as freight. To effectively accomplish these tasks the robots can benefit from the mobility legged locomotion provides. Therefore my research goal is to develop a gait controller for biped robots. \n\n<\/p>\n\n\n\n<p> I&#8217;ve designed Bipo, a robot designed to represent biped gait simplified to the sagital plane. It will serve as a test platform for different gait controllers in the Biomecatronics Laboratory at University of S\u00e3o Paulo.  <\/p>\n\n\n\n<figure class=\"wp-block-gallery aligncenter has-nested-images columns-default is-cropped wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\">\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" data-id=\"979\" src=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/sd-1024x576-1.png\" alt=\"\" class=\"wp-image-979\" srcset=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/sd-1024x576-1.png 1024w, https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/sd-1024x576-1-300x169.png 300w, https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/sd-1024x576-1-768x432.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" data-id=\"340\" src=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/33-1024x576-1.png\" alt=\"\" class=\"wp-image-340\" srcset=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/33-1024x576-1.png 1024w, https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/33-1024x576-1-300x169.png 300w, https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/33-1024x576-1-768x432.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"576\" data-id=\"738\" src=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/front-1024x576-1.png\" alt=\"\" class=\"wp-image-738\" srcset=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/front-1024x576-1.png 1024w, https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/front-1024x576-1-300x169.png 300w, https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/front-1024x576-1-768x432.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"517\" data-id=\"334\" src=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/01-1024x517-1.png\" alt=\"\" class=\"wp-image-334\" srcset=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/01-1024x517-1.png 1024w, https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/01-1024x517-1-300x151.png 300w, https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/01-1024x517-1-768x388.png 768w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n<\/figure>\n\n\n\n<p>Simulations with Bipo physical properties were conducted using Matlab, below we can see the gait controller, based on N-Step Capturability, overcoming a constant push; going uphill; push recovery (top of the page) and walking on sinusoidal terrain:<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"900\" style=\"aspect-ratio: 1200 \/ 900;\" width=\"1200\" controls src=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/Sim_p_cn.mp4\"><\/video><figcaption class=\"wp-element-caption\">Simulation &#8211; Overcoming a constant push<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"900\" style=\"aspect-ratio: 1200 \/ 900;\" width=\"1200\" controls src=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/Sim_r_p.mp4\"><\/video><figcaption class=\"wp-element-caption\">Simulation &#8211; Walking uphill<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"900\" style=\"aspect-ratio: 1200 \/ 900;\" width=\"1200\" controls src=\"https:\/\/ivanekman.com\/wp-content\/uploads\/2022\/07\/Sim_s_2.mp4\"><\/video><figcaption class=\"wp-element-caption\">Simulation &#8211; Walking on sinusoidal terrain<\/figcaption><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Biped Robot Locomotion Control - My Masters Research Preview\" width=\"640\" height=\"360\" src=\"https:\/\/www.youtube.com\/embed\/skXRZWgvxY4?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Dissertation: Biped Gait Controller With Active Perturbation Robots can aid humans in various activities: the aging society can benefit from robot companions; robots can be used in hazardous situations, such as firefighting or working on radioactive environments; or they could be used to increase efficiency or reduce costs of regular tasks such as freight. To &hellip; <\/p>\n<p class=\"link-more\"><a href=\"https:\/\/ivanekman.com\/index.php\/projects\/masters-in-robotics\/\" class=\"more-link\">Continue reading<span class=\"screen-reader-text\"> &#8220;Master of Science, Robotics &#8211; University of Sao Paulo&#8221;<\/span><\/a><\/p>\n","protected":false},"author":3,"featured_media":0,"parent":10,"menu_order":1,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-260","page","type-page","status-publish","hentry","entry"],"_links":{"self":[{"href":"https:\/\/ivanekman.com\/index.php\/wp-json\/wp\/v2\/pages\/260","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ivanekman.com\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/ivanekman.com\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/ivanekman.com\/index.php\/wp-json\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/ivanekman.com\/index.php\/wp-json\/wp\/v2\/comments?post=260"}],"version-history":[{"count":6,"href":"https:\/\/ivanekman.com\/index.php\/wp-json\/wp\/v2\/pages\/260\/revisions"}],"predecessor-version":[{"id":1185,"href":"https:\/\/ivanekman.com\/index.php\/wp-json\/wp\/v2\/pages\/260\/revisions\/1185"}],"up":[{"embeddable":true,"href":"https:\/\/ivanekman.com\/index.php\/wp-json\/wp\/v2\/pages\/10"}],"wp:attachment":[{"href":"https:\/\/ivanekman.com\/index.php\/wp-json\/wp\/v2\/media?parent=260"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}