Training system for NAO Foot+Ankle control
Doc. commercial Fr
Information supplémentaires
Exemple d'activités CPGE
Exemple d'activités SSI
Exemple d'activités STI2D
Exemple de documents fournis
Interface d'acquisition de données capteurs pour NAO


Mechanical transmissions (gears, gear reducer…)

Motors (DC motors)

Sensors (magnetic position sensors)

SPI electronic bus

Training activities:

Studying a DC / DC static converter

Studying correctorsand frictions

Friction identification

Influence of a PI corrector

Model of pitch behavior

Impact of sensor position on control

Studying inertia and pitch dynamics

Model analysis and balance concept

Kinematics: is the NAO ankle anthropomorphous ?

LTI system: identification of step responses, optimizing a PID corrector

Dynamics: dynamic optimization of a kick

Key points:

Ideal resource to teach about design and servo control for biaxial systems

Labview/Matlab/Sinusphymodels to compare simulations with real measurements

Disturbance accessories are supplied (weights, slopes)

Viewer Software for communication with and control from a PC

Solidworks 3D Model and electronic diagrams to study constructive and practical solutions

Reference:NA11: Training system for NAO “Foot + Ankle” control -PR09: USB Logic Analyzer (to see the frames running on the SPI electronic bus) –AQ10: USB Data Logger