000			01678nam a22001577a 4500
082			_a629.8
100			_aTariq, Muhammad Affan _9132373
245			_aIntelligent Ball Throw Using Humanoid Robot / _cMuhammad Affan Tariq
264			_aIslamabad : _bSMME- NUST; _c2025.
300			_a67p. _bSoft Copy _c30cm
500			_aHumanoid Robots has numerous applications among which throwing is one of them. Most of the research focuses on wheeled robots and their throwing applications. Using humanoid robot to throw the ball at a target, keeping itself stable, located at a distance is a novel challenging task that requires architecture for throw. This work focuses on comprehensive control framework for enabling stable, autonomous throwing behaviour in humanoid robots by integrating vision-based targeting with stability. The task is framed as a targeted throwing leveraging all motors of humanoid robot. The system is evaluated on the NAO humanoid robot within Webots simulation. The most important contribution is demonstrating realistic humanoid throwing in majority of which balance limitations form the direct design parameters both the synergism of trajectory planning and implementation, the integration of perception, ballistics, and stability-dependent movement of Nao. The approach generalises to target in 3D space. The results show that unlike prior work, adaptive throwing locates and throws at the targets in range keeping robot stable.
650			_aMS Robotics and Intelligent Machine Engineering _9119486
700			_aSupervisor : Dr. Yasar Ayaz _9119961
856			_uhttp://10.250.8.41:8080/xmlui/handle/123456789/56931
942			_2ddc _cTHE
999			_c615585 _d615585