Evaluation of Robot Suspension Systems, in a Human-Robot Interaction Point of View

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dc.contributor.advisorMikuska, Róbert
dc.contributor.authorSamadli, Hasan
dc.contributor.departmentDE--Műszaki Kar
dc.date.accessioned2026-06-01T06:39:25Z
dc.date.available2026-06-01T06:39:25Z
dc.date.created2026-05-04
dc.description.abstractI developed an active suspension system for mobile robots to enable them to communicate intent through fluid, biological body language, bridging the gap between functional robotics and social interaction. By modeling the robot using a quarter-car state-space approach and implementing it in ROS 2, I successfully created a system that mimics natural movement. I overcame technical challenges like kinematic ghosting by integrating IMU sensor data, which allowed me to optimize the damping ratio and achieve a critically damped, smooth response. To test this, I evaluated the system's stability under unpredictable conditions using a dynamic human tracking script in a Gazebo simulation. Ultimately, my research demonstrates that active suspension serves as a powerful non-verbal communication framework, providing robots with a natural presence that can significantly enhance user trust.
dc.description.courseMechatronical Engineeringen
dc.description.degreeMSc/MA
dc.format.extent96
dc.identifier.urihttps://hdl.handle.net/2437/407542
dc.language.isoen
dc.rights.infoHozzáférhető a 2022 decemberi felsőoktatási törvénymódosítás értelmében.
dc.subjectmobile robotics
dc.subjectsocial robots
dc.subjectemotion recognition
dc.subjectsuspension dynamics
dc.subjectHRI
dc.subjectROS2
dc.subjectsimulation
dc.subjectsuspension system simulation
dc.subject.dspaceEngineering Sciences::Engineering
dc.titleEvaluation of Robot Suspension Systems, in a Human-Robot Interaction Point of View
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