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Krasny, Darren P. "Evolving dynamic maneuvers in a quadruped robot." Columbus, Ohio : Ohio State University, 2005. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1133296951.
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Thorapalli, Muralidharan Seshagopalan, and Ruihao Zhu. "Continuum Actuator Based Soft Quadruped Robot." Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-286348.
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Quadruped robots can traverse a multitude of terrains with greater ease when compared to wheeled robots. Traditional rigid quadruped robots possess severe limitations as they lack structural compliance. Most of the existing soft quadruped robots are tethered and are actuated using pneumatics, which is a low grade energy source and lacks viability for long endurance robots. The work in this thesis proposes the development of a continuum actuator driven quadruped robot which can provide compliance while being un-tethered and electro-mechanically driven. In this work, continuum actuators are developed using mostly 3D printed parts. Additionally, the closed loop control of continuum actuators for walking is developed. Linear Quadratic Regulator (LQR) and pole placement based methods for controller synthesis were evaluated and LQR was determined to be better when minimizing the actuator effort and deviation from set-point. These continuum actuators are composed together to form a quadruped. Gait analyses on the quadruped were conducted and legs of the quadruped were able to trace the gaits for walking and galloping.Fyrfotarobotar kan lättare korsa en mängd olika terränger jämfört med hjulrobotar. Traditionella styva fyrfotarobotar har kraftiga begränsningar då de saknar strukturell följsamhet. De flesta befintliga mjuka fyrbenta robotar är kopplade till en eller flera kablar och drivs av pneumatik, vilket är en lågkvalitativ energikälla och lämpar sig inte för robotar med lång uthållighet. Arbetet i denna avhandling föreslår utvecklingen av en continuum ställdonsdriven fyrfotarobot, som ger följsamhet samtidigt som den ¨ar frånkopplad och elektromekaniskt driven. I detta arbete framställs continuum ställdon med mestadels 3D-printade delar. Dessutom utvecklas dessa ställdons slutna kontrolloop för gång. Linjärkvadratisk regulator (LQR) och metoder baserade på polplacering utvärderades för styrsyntes, och det fastställdes att LQR presterade bättre när man minimerar ställdonets ansträngning samt avvikelse från referensvärde. Continuum ställdon sammansattes för att bilda en fyrbent robot. Gånganalyser utfördes på roboten och dess ben kunde följa gång- och galopprörelser.
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Daepp, Hannes Gorkin. "Development of a multi-platform simulation for a pneumatically-actuated quadruped robot." Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/45927.
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Successful development of mechatronic systems requires a combination of targeted hardware and software design. The compact rescue robot (CRR), a quadruped pneumatically-actuated walking robot that seeks to use the benefits garnered from pneumatic power, is a prime example of such a system. This thesis discusses the development and testing of a simulation that will aid in further design and development of the CRR by enabling users to examine the impacts of pneumatic actuation on a walking robot. However, development of an entirely new dynamic simulation specific to the system is not practical. Instead, the simulation combines a MATLAB/Simulink actuator simulation with a readily available C++ dynamics library. This multi-platform approach results in additional incurred challenges due to the transfer of data between the platforms. As a result, the system developed here is designed in the fashion that provides the best balance of realistic behavior, model integrity, and practicality. An analytically derived actuator model is developed using classical fluid circuit modeling together with nonlinear area and pressure curves to model the valve and a Stribeck-Tanh model to characterize the effects of friction on the cylinder. The valve model is designed in Simulink and validated on a single degree-of-freedom test rig. This actuator model is then interfaced with SrLib, a dynamics library that computes dynamics of the robot and interactions with the environment, and validated through comparisons with a CRR prototype. Conclusions are focused on the final composition of the simulation, its performance and limitations, and the benefits it offers to the system as a whole.
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Palmer, Luther R. "Intelligent control and force redistribution for a high-speed quadruped trot." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1174570965.
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Hunt, Alexander Jacob. "Neurologically Based Control for Quadruped Walking." Case Western Reserve University School of Graduate Studies / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=case1445947104.
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Gu, Dongbing. "Behaviour-based learning and fuzzy control of autonomous quadruped robots." Thesis, University of Essex, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.400989.
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Di, Carlo Jared(Jared J. ). "Software and control design for the MIT Cheetah quadruped robots." Thesis, Massachusetts Institute of Technology, 2020. https://hdl.handle.net/1721.1/129877.
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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, February, 2020Cataloged from student-submitted PDF of thesis.
Includes bibliographical references (pages 99-101).
This thesis documents the development and implementation of software and controllers for the MIT Mini Cheetah and MIT Cheetah 3 robots. The open source software I developed is designed to provide a framework for other research groups to use the Mini Cheetah platform and is currently being used by seven other groups from around the world. The controllers I developed for this thesis are provided as example code for these groups, and can be used to make the robot walk, run, and do a backflip. The locomotion controller utilizes a simplified model and convex optimization to stabilize complex gaits online, allowing it to control complex, fully 3D gaits with flight periods, such as galloping. The backflip is accomplished through offline trajectory optimization with an accurate dynamic model and was the first backflip done on a quadruped robot.
by Jared Di Carlo.
M. Eng.
M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
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Hardarson, Freyr. "Stability analysis and synthesis of statically balanced walking for quadruped robots." Doctoral thesis, KTH, Machine Design, 2002. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3379.
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Bhat, Aditya. "Locomotion Trajectory Generation For Legged Robots." Digital WPI, 2017. https://digitalcommons.wpi.edu/etd-theses/1167.
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This thesis addresses the problem of generating smooth and efficiently executable locomotion trajectories for legged robots under contact constraints. In addition, we want the trajectories to have the property that small changes in the foot position generate small changes in the joint target path. The first part of this thesis explores methods to select poses for a legged robot that maximises the workspace reachability while maintaining stability and contact constraints. It also explores methods to select configurations based on a reduced-dimensional search of the configuration space. The second part analyses time scaling strategy which tries to minimize the execution time while obeying the velocity and acceleration constraints. These two parts effectively result in smooth feasible trajectories for legged robots. Experiments on the RoboSimian robot demonstrate the effectiveness and scalability of the strategies described for walking and climbing on a rock climbing wall.
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Lee, Heon Joong Choe Song-Yul. "Modeling and analysis of a PEM fuel cell system for a quadruped robot." Auburn, Ala, 2009. http://hdl.handle.net/10415/1786.
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Stenow, Samuel, and Simon Lindenfors. "Omnidirectional Quadruped Robot." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296183.
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There are a lot of quadruped robots in the world, but few are omnidirectional. Therefore this thesis describes the production and design process of such a robot. Examining earlier quadruped robots determined that a central microcontroller is required to control it, and servo motors are used to power the robots joints. Reaserch also determined the base of the mathematical methods used. Additionally, there are multiple types of sprawling gaits, ranging from statically stable to dynamically stable. In this project astatically stable gait is used. The thesis illustrates the mathematical models used to define the omnidirectional movement, and describes the code used to implement it. The result is a robot that can move omnidirectionally, both normally and upside down. The results show that there is a deviation depending upon the direction, but it is small. The main advantage of omnidirectionallity is the ability to change movement direction without stopping or turning. It also enables directional adjustment without requiring any steps.Det här projektet gick ut på att skapa en krypande fyrbent robot som kan gå i alla riktningar utan att rotera runt sitt eget centrum. Det finns idag redan ett stort antal olika fyrbenta robotar, men få kan gå i alla riktningar. Därav så beskriver den här rapporten framtagningen och designprocessen för en sådan robot. Undersökning av fyrbenta robotar visade att en mikrokontroller är nödvändigför att kontrollera roboten och servomotorer bör användas för att driva lederna. Förstudeierna gav även basen för de matematiska modellerna som används for rörelserna, samt vetskapen om ett flertal olika typer av gångstilar, allt från statiskt stabil till dynamiskt stabil. I det här projektet beskrivs de matematiska modellerna som används för att definiera rörelsen i alla riktningar och hur dessa appliceras i programmeringen av roboten. Resultatet blev en robot som kan gå i alla riktningar utan att rotera runt sitt centrum, både normalt och uppochner. Detta ger möjligheten att byta rörelse riktning utan att behöva stanna eller vända sig, samt möjliggör även riktnings korrektioner utan att kräva extra steg.
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Fredriksson, Scott. "Design, Development and Control of a Quadruped Robot." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-86897.
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This thesis shows the development of a quadruped platform inspired by existing quadrupled robot designs. A robot by the name of Mjukost was designed, built, and tested. Mjukost uses 12 Dynamixel AX-12a smart servos and can extend its legs up to 19 cm with an operating height of 16 cm. All the custom parts in Mjukost are ether 3d printable or easy to manufacture, and the total estimated cost of Mjukost is around 900$. Mjukost has a simple control system that can position its body freely in 6 DOF using an inverse kinematic model and walk on flat ground using an open-loop walking algorithm. The performance experiments show that its slow control loopcauses difficulties for the robot to follow precise trajectories, but its still consistent in its motions.
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Ajilo, Deborah (Deborah M. ). "Mechanical design of a quadruped robot." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/98948.
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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.Cataloged from PDF version of thesis.
Includes bibliographical references (page 49).
This thesis presents the mechanical design and fabrication of the Super Mini Cheetah (SMC) robot, a small ( 9kg) quadruped that is capable of jumping, bounding and trotting. The robot is designed using commercially available components and rapid prototyping methods, resulting in a low-cost, replicable and modifiable platform capable of force, position, or impedance control of each limb. The mechanical system consists of an aluminum torso frame and 3D printed legs. The design of the legs is based on kinematic calculations which determined the lengths of the linkages, force generating capability and the available workspace. The detailed design of the leg components was determined by estimating of the loading conditions required for dynamic locomotion. The design of the mechanical system was refined using FEA and bench level calculations. This thesis documents drop tests and hopping experiments that were performed with the first quadruped prototype.
by Deborah Ajilo.
S.B.
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McKenzie, Jacob Elijah. "Design of robotic quadruped legs." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/70444.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 167-171).
Prized for their performance on prepared surfaces, wheeled vehicles are often limited in mobility by rough and unstructured terrain. Conversely, systems that rely on legs have shown promising rough terrain performance but only a modest ability to achieve high speeds over flat terrain. The goal of this thesis is to develop four robotic legs that are capable of robust dynamic running over flat terrain. Demonstration of this ability is necessary to improve the viability of robotic legs as a propulsion system. Achieving true dynamic running presents many challenges, and the first step in prevailing over the difficulties this task presents is the development of a sound mechanical system. The leg designs presented here are based on the development of four design principles from both biological systems, dynamic simulations and previous research. These principles suggest that a leg design should: minimize passive mechanical impedance, minimize mass and inertia, maximize actuator strength and develop a balance between leg kinematics and robot use. To bring these principles into reality several unique design features were introduced including a doubly concentric actuator layout, synthetic fiber tendons to reduce bending loads in the legs, polymer leg links and the use of electric motors to their thermal limit. To accompany these technical features simulation-based design tools were developed that provide an intuitive insight into how altering design parameters of the leg may affect locomotion performance. The key feature of these tools is that they plot the forces that the leg is capable of imparting on the body for a given set of dynamic conditions. Single and multiple leg testing has shown that the legs perform well under dynamic loading and that they are capable producing vertical ground reaction forces larger than 800 N and horizontal forces larger than 150 N. Many of the design principles, features and tools developed may be used with a large variety of leg structures and actuation systems.
by Jacob Elijah McKenzie.
S.M.
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Ingvast, Johan. "Quadruped robot control and variable leg transmissions." Doctoral thesis, Stockholm, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-600.
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Lindestam, Algot, and David Lorang. "Design and Stability of a Quadruped Robot." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296171.
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We are currently in a revolution in robotics where more tasks are being handled by machines than ever before. For this reason, the goal of this project was to build a four-legged robot with an implementation of dynamic stability. The developed robot is a dog style robot with reversed knee joints. The robot is controlled by an Arduino UNO microcontroller, that processes information from a gyroscope to drive it’s servo motors. It is capable of maintaining it’s balance while standing on a varying incline. The motion is based upon an inverse kinematic model of the leg geometry and assumes a planar ground surface.I dagsläget ser vi en snabb expansion i användningen av robotar för att utföra alltmer avancerade uppgifter. På grund av detta var målet med detta projekt att utveckla en fyrbent robot med en enkel implementation av självbalansering. Den framtagna prototypen är en robot av hundstil med bakåtgående knän. Styrenheten är en Arduino UNO mikrokontroller. Med information från ett gyroskop styr denna roboten med hjälp av dess servomorer. Prototypen är kapabel att hålla balansen då den står på lutande underlag. Rörelsen är baserad på en kinematisk modell av bengeometrin och förutsätter en plan markyta.
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Graber-Tilton, Alexander. "Elements of Control for a Quadruped Robot." Case Western Reserve University School of Graduate Studies / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=case1453465054.
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Sherrod, Vallan Gray. "Design Optimization for a Compliant,Continuum-Joint, Quadruped Robot." BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/7766.
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Legged robots have the potential to cover terrain not accessible to wheel-based robots and vehicles. This makes them better suited to perform tasks, such as search and rescue, in real-world unstructured environments. Pneumatically-actuated, compliant robots are also more suited than their rigid counterparts to work in real-world unstructured environments with humans where unintentional contact may occur. This thesis seeks to combine the benefits of these two type of robots by implementing design methods to aid in the design choice of a 16 degree of freedom (DoF) compliant, continuum-joint quadruped. This work focuses on the design optimization, especially the definition of design metrics, for this type of robot. The work also includes the construction and closed-loop control of a four-DoF continuum-joint leg used to validate design methods.We define design metrics for legged robot metrics that evaluate their ability to traverse unstructured terrain, carry payloads, find stable footholds, and move in desired directions. These design metrics require a sampling of a legged-robot's complete configuration space. For high-DoF robots, such as the 16-DoF in evaluated in this work, the evaluation of these metrics become intractable with contemporary computing power. Therefore, we present methods that can be used to simplify and approximate these metrics. These approximations have been validated on a simulated four-DoF legged robot where they can tractably be compared against their full counterparts.Using the approximations of the defined metrics, we have performed a multi-objective design optimization to investigate the ten-dimensional design space of a 16-DoF compliant, continuum-joint quadruped. The design variables used include leg link geometry, robot base dimensions, and the leg mount angles. We have used an evolutionary algorithm as our optimization method which converged on a Pareto front of optimal designs. From these set of designs, we are able to identify the trade-offs and design differences between robots that perform well in each of the different design metrics. Because of our approximation of the metrics, we were able to perform this optimization on a supercomputer with 28 cores in less than 40 hours.We have constructed a 1.3 m long continuum-joint leg from one of the resulting quadruped designs of the optimization. We have implemented configuration estimation and control and force control on this leg to evaluate the leg payload capability. Using these controllers, we have conducted an experiment to compare the leg's ability to provide downward force in comparison with its theoretical payload capabilities. We then demonstrated how the torque model used in the calculation of payload capabilities can accurately calculate trends in force output from the leg.
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Faragalli, Michele. "Intelligent velocity control of a bounding quadruped robot." Thesis, McGill University, 2009. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=40825.
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The Platform for Ambulating Wheels (PAW) is a hybrid quadruped wheeled-legged robot that can bound, gallop, roll and brake at high speeds, and perform inclined turning. In previous work, the PAW’s controller used fixed touchdown and liftoff angles to achieve a stable bounding gait, and these angles were predetermined through an extensive trial and error process. In this work, an intelligent velocity controller is developed to allow the robot to autonomously find the touchdown and liftoff angles to bound at a desired velocity. This enables the robot to track desired velocities between 0.9 and 1.3 m/s, as shown in a Matlab-Adams co-simulation model of bounding. The controller also demonstrates tracking capabilities in the presence of minor terrain changes. To implement this controller on the physical platform, an Extended Kalman Filter (EKF) is developed to estimate the forward velocity of the robot required as a controller input. The EKF combines the data from an Inertial Measurement Unit and an estimate of forward velocity found kinematically using measurements from motor encoders and leg potentiometers. The accuracy of the EKF estimate of the forward velocity is validated in simulation and using high speed camera experiments. Finally, the intelligent controller is implemented and tested on the physical platform demonstrating adequate velocity tracking for set points between 0.9 m/s and 1.3 m/s, as well as transitions between set points in this range.Le « Platform for Ambulating Wheels » (PAW) est un robot quadrupède qui possède des roues au bout de ses quatre jambes. Sa combinaison de roues et jambes lui permet de rouler, d’effectuer des virages en inclinant son corps, de sauter, de bondir et de galloper. Dans les travaux précédents, le robot utilisait des angles fixes, trouvés par essais et erreurs, pour pouvoir bondir à une certaine vitesse. Un contrôleur intelligent capable de trouver les angles de façon autonome afin de suivre une vitesse prédéterminée est développé dans ce mémoire. Premièrement, la performance du contrôleur est évaluée dans une simulation MSC Adams et MATLAB démontrant les capacités à suivre des vitesses entre 0.9 et 1.3 m/s. Le contrôleur démontre une capacité à suivre la vitesse désirée même en présence de changement de terrain mineur.Ensuite, un filtre Kalman pour système non-linéaire est développé pour estimer la vitesse du robot, un paramètre nécessaire pour introduire le système de contrôle intelligent sur le robot. Les données d’une unité de mesure inertielle et une estimation de la vitesse par des équations cinématiques sont combinés dans le filtre pour estimer plus précisément la vitesse du robot. La précision du filtre est validée en comparant ses résultats contre ceux acquis en simulation et par une caméra à haute vitesse.Finalement, le contrôleur intelligent est évalué sur le robot en utilisant la vitesse estimée par le filtre Kalman. Les résultats expérimentaux du contrôleur démontre qu’il est capable de bien suivre des vitesses entre 0.9 et 1.3 m/s.
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Turker, Korhan. "Step climbing behaviour for a wheeled quadruped robot." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=106590.
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This thesis presents a quasi-static step climbing behaviour for PAW (Platform for Ambulating Wheels) which is a minimal sensing quadruped robot equipped with wheels at the distal ends of its legs. Until the work conducted in this thesis, PAW could only use a jumping manoeuvre for obstacle clearance purposes. By developing a quasi-static step climbing behaviour described in this thesis, the robot's obstacle negotiation capabilities have been enhanced.In this work, the control methodology, with the corresponding controller parameters, is determined and the state machine of the manoeuvre is developed. In the quasi-static climbing manoeuvre, the robot benefits from wheel traction and uses its legs to reconfigure itself with respect to the step during the climb. Controller parameters for climbing are optimized in order to determine the maximum achievable height and to prescribe robot's posture and trajectory during the climb. For these purposes, constrained nonlinear optimizations are carried out with a simple 2D PAW model in Matlab. Optimized controller parameters and the state machine of the manoeuvre are then tested in a high fidelity MSC.ADAMS/Simulink co-simulation, and are verified. Finally, the proposed controller is implemented on the physical system and tested experimentally. With this controller, PAW is able to climb any step height of up to 0.143m autonomously with a single set of controller parameters without making any modifications to the system.Cette thèse présente un fonctionnement de montée par paliers quasi-statique pour PAW (plateforme à roues ambulatoires), qui est un robot à détection minimale, quadrupède, équipé de roues aux extrémités distales de ses jambes. Avant le travail entrepris dans cette thèse, PAW pouvait juste utiliser une manœuvre de saut pour des motifs de franchissement d'obstacles. En développant un fonctionnement de montée par paliers quasi-statique dans cette thèse, les habiletés de négociation d'obstacle du robot ont été augmentées. Dans ce travail, la méthodologie de commande, avec les paramètres correspondants, est déterminé et la machine état de la manœuvre est développé. Dans la manœuvre de montée par paliers quasi-statique, le robot bénéficie de la traction des roues et utilise ses jambes pour se reconfigurer par rapport au palier durant la montée. Les paramètres du systéme de commande pour la montée sont optimisés pour déterminer la hauteur maximale réalisable et pour prescrire la posture et la trajectoire du robot durant la montée. Pour ces raisons, des optimisations non-linéaires restreintes sont faites avec un simple modèle 2D PAW dans Matlab. Les paramètres du commande optimisés ainsi que la machine état de la manœuvre sont ensuite testés dans une co-simulation haute fidélité MSC. ADAMS/Simulink, et sont ensuite vérifiés. Finalement, le commande proposé est implanté sur le système physique et testé expérimentalement. Avec ce commande, PAW est capable de monter tout palier d'une hauteur allant jusqu'à 0.143m, de façon autonome, avec un seul ensemble de paramètres de commande sans faire aucune modification au système.
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Hugel, Vincent. "Contribution a la commande de robots hexapode et quadrupede." Paris 6, 1999. http://www.theses.fr/1999PA066246.
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Ce memoire traite de la conception d'une commande stable en boucle ouverte que l'on peut implanter sur des robots hexapode et quadrupede. L'objectif consiste a definir une locomotion permettant a un robot a pattes de marcher aussi vite que possible sur terrain plat, tout en maintenant trois pattes au sol. L'etude est basee sur les allures bien connues de type crawl, utilisees par beaucoup de mammiferes lorsqu'ils gardent trois pattes en contact avec le sol. Le crawl en marche avant est ameliore grace a la superposition d'un mouvement oscillatoire lateral du centre de masse de la plate-forme. Ceci permet de garantir l'equilibre quand l'allure se rapproche de la limite du crawl. Au-dela de cette limite, l'allure est caracterisee par des phases a deux pattes au sol et converge vers le trot. Des virages et des rotations sur place sont aussi definis suivant le meme principe que le crawl en marche avant. De plus, les transitions entre les differents types de marche - marche avant, arriere, virages et rotations - sont particulierement detaillees. Les algorithmes de locomotion ont ete implantes sur deux types de robots quadrupedes de la firme sony.
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Papadopoulos, Didier. "Stable running for a quadruped robot with compliant legs." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0032/MQ64241.pdf.
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Morse, Christopher John 1974. "Design of a quadruped walking robot for social interaction." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/89305.
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BELLAMY, PASCAL. "Methode d'analyse des systemes de locomotion de robots, et application a un quadrupede." Paris 6, 1988. http://www.theses.fr/1988PA066057.
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Determination et optimisation d'un systeme de locomotion de robot a partir des conditions de fonctionnement imposees a ce vehicule. L'ebauche d'une methode d'analyse cinematique parametree est proposee. Les equations cinematiques sont obtenues par analogie entre le probleme de la prehension et la manipulation d'objets et celui de la locomotion
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Smith, James Andrew. "Galloping, bounding and wheeled-leg modes of locomotion on underactuated quadrupedal robots." Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=103008.
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This thesis presents advances in the state-of-the-art in legged locomotion through the development of bounding and galloping gaits as well as new modes of hybrid wheeled-leg modes of locomotion. Two four-legged running robots, Scout II and PAW, are examined, the latter of which is distinguished by actuated wheels at the ends of its legs.First, hybrid modes of locomotion are demonstrated which use legs to dynamically reposition wheels at specific locations with respect to the body. These modes improve the stability and tire-wear of turning and braking manoeuvres and allow pitch-controlled slope ascent and descent in a wheeled-leg vehicle such as the PAW robot.
Second, through hip actuation, passive leg compliance and controlled wheel action it is possible to make the same vehicle run using a dynamically stable legged gait called the bound. Experimental evidence of this is presented and compared to similar experiments on the same robot with mechanically blocked wheels, a 3D simulation of the same, as well as bounding on a completely different quadrupedal robot, Scout II. While a casual observer finds no difference in blocked-wheel and active wheel control modes, detailed examination of the gaits reveals lower speeds and efficiency as well as decreased repeatability when the wheels are actively controlled.
A new method of forward speed control is presented for the bounding gait using liftoff, as opposed to touchdown, leg angles. The liftoff angle method of speed control is shown to be particularly suited to fine-tuning of certain gait performance indices.
Third, the underactuated bounding gait is extended to demonstrate, for the first time, that robotic galloping is possible and that it can be achieved in two underactuated quad-rupedal robots and with varying levels of decoupled control. In the Scout II robot the front leg pair and rear leg pairs function independently; while in the PAW robot galloping is achieved with no controlled coupling between any of the four legs. The rotary gallop gait demonstrated by both robots is characterized by a significant yaw component and is compared to another bound-derived turning gait which uses liftoff angles to produce yaw. In particular, the correspondence of lead leg to yaw direction in both cases is found to match results from biology. In contrast, while it is thought that animals pivot about their lead leg to turn, the rotary gallop demonstrated by these robots shows that yaw occurs primarily in the leg behind the lead leg.
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Elanjimattathil, Vijayan Aravind. "Dynamic Locomotion of Quadrupedal Robots over Rough Terrain." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-240409.
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Previous works have enabled locomotion of quadrupedal robots usingthe ZMP-based motion optimization framework on flat terrain withvarious gait patterns. Locomotion over rough terrain brings in newchallenges such as planning safe footholds for the robot, ensuring kinematicstability during locomotion and avoiding foot slippage over roughterrain etc. In this work, terrain perception is integrated into the ZMPbasedmotion optimization framework to enable robots to perform dynamiclocomotion over rough terrain.In a first step, we extend the foothold optimization framework touse processed terrain information to avoid planning unsafe footholdpositions while traversing over rugged terrain. Further, to avoid kinematicviolations during locomotion over rugged terrain, we presentadditional constraints to the ZMP-based motion optimization frameworkto solve for kinematically feasible motion plans in real-time. Weadd nonlinear kinematic constraints to existing nonlinear ZMP motionoptimization framework and solve a Sequential Quadratic Programming(SQP) problem to obtain feasible motion plans. Lastly, to avoidfoot contact slippage, we drop the approximated terrain normal anduse measured terrain normal at foot contact position to compute thefriction polygon constraints.The proposed algorithms are tested in simulation and on hardwarewith dynamic gaits to validate the effectiveness of this approach toenable quadrupedal robots to traverse rugged terrain safely. The computationaltime and performance of the proposed algorithms were analyzedunder various scenarios and presented as part of this thesis.Tidigare forskning har gjort det möjligt att fyrfotade robotar kan rö- ra sig med hjälp av det ZMP-baserade rörelseoptimeringsramverket på platt terräng med olika gångartsmönster. Nya utmaningar före- kommer med förflyttning över grov terräng såsom planering av säk- ra fotfäste för roboten, säkerställning av kinematiskt stabilitet under rörelse, undvikande av fotglidning på grov terräng, och så vidare. I det här verket är terränguppfattning integrerad i det ZMP-baserade rörelseoptimeringsverket så att robotar kan utföra dynamisk rörelse över grov terräng. I första steget utökar vi fotfästeoptimeringsram- verket för att använda bearbetad information om terrängen med syf- tet att undvika planeringen av osäkra fotfästeplaceringar under för- flyttning över grov terräng. För att undvika kinematiska överträdel- ser under förflyttning över grov terräng introducerar vi ytterligare begränsningar till det ZMP-baserade rörelseoptimeringsramverket för att lösa ut kinematiskt rimliga rörelseplaner i realtid. Vi introducerar icke-linjära kinematiska begränsningar till det existerande icke-linjära ZMP-baserade rörelseoptimeringsramverket och löser ett sekventiellt kvadratiskt programmeringsproblem (SQP problem) för att få rimli- ga rörelseplaner. Med syftet att undvika fotkontaktglidning släpper vi den approximerade terrängnormalen och använder den mätta ter- rängnormalen vid fotkontaktläge för att beräkna friktionspolygonbe- gränsningarna. De föreslagna algoritmerna testas i simulering samt på hårdvara med dynamiska gångarter för att bekräfta denna metods ef- fektivitet att tillåta fyrfotade robotar att flytta sig över grov terräng på ett säkert sätt. Algoritmernas beräkningsperiod och prestanda analy- serades i olika fall och redovisades som en del av detta examensarbete.
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Harmat, Adam. "Jumping behaviour for a wheeled quadruped robot: analysis and experiments." Thesis, McGill University, 2009. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=32514.
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This thesis describes a new jumping behaviour developed for the quadruped robot PAW. The robot has very few degrees of freedom, employing springy legs and wheels at the distal ends of the legs to achieve its various modes of locomotion. This simple construction allows PAW to exploit the dynamics of a mass-spring system to achieve gaits such as bounding, galloping, and presently jumping. An MSC.ADAMS / Simulink co-simulation is used to develop and optimize the jumping process, which consists of four stages: acceleration to jumping speed, front hip thrusting, rear hip thrusting, and flight. Due to the strong coupling between the parameters describing the jump, manual tuning is not possible and thus a genetic algorithm is used for the optimization process. The data generated by the genetic algorithm is then used for the fitting of a quadratic response surface, which identifies those parameters that contribute most to a successful jump. The simulation is then generalized to allow robots of various geometries to be analyzed, and it is found that leg length and body length are important factors in the jumping behaviour. Finally, the possibility of extending this approach to simulate the jumping of virtually any wheeled-leg quadruped is discussed.Cette thèse décrit un nouveau comportement sautant développé pour le robot quadrupède PAW. Le robot a très peu de degrés de liberté, employant des ressorts dans les jambes et des roues aux bouts pour atteindre ses divers modes de locomotion. Cette construction simple permet à PAW d'exploiter la dynamique d'un système de masse-ressort pour atteindre l'allure du galop, du rebond, et le sujet de cette recherche: le saut. Une co-simulation de MSC.ADAMS et Simulink est utilisée pour développer et optimiser le processus sautant, qui consiste de quatre étapes : l'accélération pour atteindre la vitesse necessaire pour sauter, la poussée des jambes de devant, la poussée des jambes postérieur, et le vol. En raison du fort accouplement entre les paramètres décrivant le saut, l'accordement manuel de ces paramètres n'est pas possible. Alors, un algorithme génétique est utilisé pour le processus d'optimisation. Les données produites par l'algorithme génétique sont alors utilisées pour l'adjustement d'une surface de réponse quadratique, qui identifie les paramètres qui contribuent le plus à un saut réussi. La simulation est alors généralisée pour permettre aux robots de diverses géométries à être analysé, et il est trouvé que la longueur des jambes et la longueur du corps sont des facteurs importantes dans le comportement sautant. Enfin, la possibilité d'étendre cette approche pour simuler le saut de quasiment n'importe quel quadrupède avec des roues aux bouts des jambes est discuté.
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Cocosco, Anca Elena. "Control of walking in a quadruped robot with stiff legs." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0023/MQ50598.pdf.
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Leeser, Karl Frederick. "Locomotion experiments on a planar quadruped robot with articulated spine." Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/11227.
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Muraro, Alain. "Génération de mouvements optimaux pour un robot quadrupède." Nantes, 2002. http://www.theses.fr/2002NANT2091.
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Le sujet traité dans le cadre de cette thèse est la génération de mouvements optimaux rapides d'un robot quadrupède. Le robot marcheur est composé d'une plate-forme et de quatre pattes sans pieds articulés par des liaisons rotoi͏̈des aux hanches et aux genoux. Le contact patte/sol est ponctuel et passif. Cette recherche prend en compte les dimensions d'un prototype de robot quadrupède mis en place au sein du laboratoire et les caractéristiques de ses actionneurs. Des mouvements optimaux sont conçus pour trois allures : la courbette, l'amble et le trot. Ces dernières sont composées dans un premier temps de phases de double support séparées par des phases de quadruple support instantanées (impacts) puis complétés par des phases de vol. Les mouvements étudiés correspondent à un mouvement simultané de deux pattes. Le principe des pattes virtuelles est introduit pour la courbette et le trot : une patte virtuelle représente deux pattes ayant un mouvement simultané. Ces deux allures peuvent être étudiées en 2D. Cette simplification n'est que partiellement possible pour l'amble. . .
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Thomson, Travis. "Kinematic control and posture optimization of a redundantly actuated quadruped robot." Thesis, McGill University, 2012. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=106317.
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Although legged locomotion for robots has been studied for many years, the research of wheeled-leg robotics is much more recent. Robots of this type can take advantage of the energy efficiency of wheeled locomotion while adapting to more difficult terrain with legged locomotion when necessary. The Micro Hydraulic Toolkit (MHT), developed by engineers at Defence Research and Development Canada (DRDC), is a good example of such a robot. MHT is an unmanned quadruped hybrid robot with hydraulically articulated legs and electric wheels. Investigation into the control of MHT leads to a better understanding of ground vehicle control for terrestrial exploration and reconnaissance. The methodology applied in this work uses MHT's velocity kinematics to determine joint rates for the given posture and trajectory inputs. This thesis will review the formulation of the kinematic controller and the results obtained via co-simulation using Matlab's Simulink and the high-fidelity model of MHT in LMS Virtual Lab.Il y a déjà plusieurs années que les robots à locomotion articulée font sujets de maintes études, la recherche visant la locomotion articulée sur roues, par contre, est beaucoup plus récente. Les robots de ce type peuvent bénéficier de l'efficacité énergétique de la locomotion articulée sur roues tout en s'adaptant à des environnements plus difficiles par l'utilisation de la locomotion articulée lorsque nécessaire. Le toolkit micro-hydraulique (Micro Hydraulic Toolkit (MHT)), conçu par des ingénieurs au Recherche et développement pour la défense Canada (RDDC), est un bon exemple d'un tel robot. MHT est un robot quadrupède hybride autonome composé de pattes articulées hydrauliques et de roues électriques. La recherche ciblant les mécanismes de control du MHT mène à une meilleure compréhension du control nécessaire pour l'exploration et la reconnaissance que font les véhicules terrestres. La méthodologie employer pour ce travail utilise la vélocité cinématique du toolkit micro-hydraulique pour déterminer la proportion des articulations pour les positions voulues et les trajectoires émises. Cette thèse revisera la formulation des commandes cinématiques et des résultats obtenus par l'entremise de co-simulations utilisant Matlab's Simulink et le modèle haute-fidélité de MHT dans LMS Virtual Lab.
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Yamazaki, Kenneth S. "The design and control of Scout I, a simple quadruped robot." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0030/MQ50678.pdf.
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Germann, Daniel [Verfasser]. "A Modular Controller Structure for the Quadruped Robot ALDURO / Daniel Germann." Aachen : Shaker, 2008. http://d-nb.info/1164342479/34.
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Costis, Thomas. "Couplage perception-locomotion pour robot quadrupède autonome." Versailles-St Quentin en Yvelines, 2006. http://www.theses.fr/2006VERS0026.
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Les travaux décrits dans ce mémoire présentent une étude du couplage perception-locomotion applicables à des robots quadrupèdes. L'objectif principal est l'augmentation de l'autonomie du robot pour aboutir à l'adaptation de la locomotion en fonction du terrain et de son environnement. Dans une première partie nous nous intéressons à la perception visuelle du robot et particulièrement à la détection d'objets colorés à partir d'une seule caméra. Nous présentons ensuite les développements effectués pour la détection embarquée de segments dans l'environnement avec, pour objectif de repérer les traces au sol des obstacles de manière autonome. Les primitives obtenues à partir du système de vision adapté à la robotique permettent la localisation du robot, dans un premier temps relative par rapport aux lignes détectées, puis absolue dans un environnement semi-connu. La partie expérimentale utilise des plateformes robotiques quadrupèdes Sony et se concentre sur la mise en oeuvre de comportements autonomes comme le suivi d'une ligne au sol ou le positionnement du robot par rapport à un obstacle polygonal à des fins de contournement ou de franchissementThis thesis presents a survey of perception-driven legged locomotion for robotics use. This research focuses on increasing the autonomy of the robot so it can adapt its gait according to the ground and the environment. In the first part, we present the visual perception system including colored object detection with a single video-camera. The perception system also incorporates different line detection algorithms, in order to get polygonal maps of the obstacles on the ground. Visual primitives are then used to localise the robot in a structured environment with respect to a segment and within an absolute reference frame. The experimental part is conducted on Sony quadruped robots and aims to implement autonomous behaviours such as line following or positionning relatively to polygonal shapes to cross or avoid obstacles
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Villard, Claude. "Etude du comportement dynamique d'un robot quadrupède." Paris 6, 1993. http://www.theses.fr/1993PA066660.
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Cette thèse présente une étude sur la réalisation d'allures dynamiques ou quasi-dynamiques avec un robot quadrupède. Elle s'inscrit dans le cadre du projet Ralphy (robot autonome à liaisons pneumatiques hybrides) développé au laboratoire de robotique de Paris. La détermination des couples articulaires qu'il faut appliquer sur les pattes pour garantir l'équilibre de la plate-forme lors d'une allure non-statique nécessite de résoudre le modèle dynamique inverse (m. D. I. ) du robot. Aussi, pour répondre à la contrainte de temps réel et aux contraintes matérielles des systèmes embarqués, une approche basée sur une distribution hiérarchisée de l'ensemble des taches à réaliser est exposée (chapitre 2). Les quatre problèmes suivants sont alors traités: résolution du m. D. I. Des pattes (chapitre 3), coordination du mouvement des pattes et détermination du profil de la trajectoire suivie par leur extrémité (chapitre 4), contrôle de la stabilité de la plate-forme (chapitre 5). Enfin, la dernière partie de ce mémoire est consacrée à la présentation du nouveau projet Reality (robot d'étude autonome à locomotion intermédiaire typique)
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DiLorenzo, Daniel John. "Design and implementation of a quadrupedal robot." Thesis, Massachusetts Institute of Technology, 1987. http://hdl.handle.net/1721.1/14872.
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Bisland, Keion. "Development of an Open Source Quadrupedal Robot Platform for Education: SmallKat." Digital WPI, 2020. https://digitalcommons.wpi.edu/etd-theses/1358.
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In the field of robotics, quadrupedal robotics is a rapidly growing segment. Despite the large number of robotic quadrupeds developed so far, there is currently no platform specifically developed for use in an educational setting. Currently available quadrupeds have several aspects that restrict them to use only in the research labs that developed them, preventing them from being available for use in undergraduate-level classes. This constraint limits the number of people able to gain experience with these highly complex platforms. To enable further development into the field of quadruped robotics, more engineers with in-depth experience with these platforms and the knowledge required to develop and operate them are needed. In this thesis we present the SmallKat platform which strives to fill this space and allow for further development into the fields of dynamic quadruped robotics without the fear of damaging an expensive robot. This thesis proposes a robot designed specifically for the purpose of teaching multiple robotics concepts including kinematics, control, dynamics, trajectory planning, and gait generation. Like many other quadrupedal robots, SmallKat uses 3-DoF legs allowing for coordinated motion in all 3 axes. The size, modularity, cost, and capabilities of the platform are what suit it to teach at a variety of levels. With the integrated sensing and safety features, this platform lends itself to the development of an undergraduate robotics course on quadruped robots, a sample of which is discussed in this thesis. Through the distribution of the SmallKat robot to more schools and universities, the robotics curriculum offered by these universities could be expanded further to offer courses at the undergraduate level in legged robotics.
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Sarkis, Joseph 1975. "Control of running in a quadruped robot with actuation only at the hips." Thesis, McGill University, 1999. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=21322.
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Over the last few decades, much research effort has been focused on legged robots to mimic human or animal behaviors. The main motivation for this research is the fact that the majority of the earth's land mass is inaccessible to wheeled vehicles. It is therefore necessary to develop robots which can deal with a variety of terrain and overcome obstacles---legged locomotion seems to be the answer.With a new class of four-legged robots---the SCOUT class---maximum mechanical simplicity is achieved with only one actuated degree of freedom per leg. This platform with stiff legs has already been proven by Anca Cocosco to be capable of stable walking with a set of control algorithms based on controlled momentum transfer. By adding compliance in the legs and changing the control strategy to one that resembles Raibert's three-part controller, it has become possible to achieve running gaits in SCOUT-I and SCOUT-II. This will be demonstrated through simulations using the Working Model [8] software package.
This thesis demonstrates that with a very simple mechanical design, simple control strategy, and only one actuated degree of freedom per leg, stable running is possible in SCOUT-II, and this for a variety of speeds and under different initial conditions. This research, along with other research on walking and stair-climbing presently being conducted at the Ambulatory Robotics Laboratory, will pave the way for robots that are inexpensive and of simple mechanical design, yet highly mobile and functional.
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Sarkis, Joseph. "Control of running in a quadruped robot with actuation only at the hips." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0028/MQ50658.pdf.
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PERRIN, BENOIT. "Modelisation et commande d'un robot quadrupede pour une allure dynamiquement stable." Nantes, 1999. http://www.theses.fr/1999NANT2010.
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Le sujet traite ici concerne la modelisation, la definition du mouvement et la commande d'un robot marcheur quadrupede pour une allure dynamiquement stable. Deux modeles issus de l'etude de l'anatomie des chevaux sont definis, avec des pieds et une encolure. L'un a des chevilles motorisees, l'autre non. L'utilisation d'une allure specifique, l'allure de la courbette marchee, permet une etude en deux dimensions et une reduction de la complexite des modeles. Pour la simulation de ces robots, le calcul des modeles dynamiques directs est necessaire. Trois methodes iteratives utilisant le calcul symbolique et issues des methodes de walker et orin et de featherstone sont presentees et comparees selon leurs performances calculatoires. On definit aussi un modele impulsionnel d'impact plastique tenant compte des contraintes liees au contact avec le sol. Un premier type de trajectoire de reference est proposee. Elle est definie par une succession de phases balistiques, en simple et double support, et de phases de transition instantanees acceptant des couples et des forces impulsionnels. On recherche alors les configurations du robot engendrant un cout energetique minimal. Afin de suivre les trajectoires de reference, on ecrit une commande dynamique tenant compte des contraintes de contact et preservant l'equilibre du robot. Ces aspects sont primordiaux car, s'ils ne sont pas respectes, un comportement imprevu (glissement, decollement,) peut entrainer la chute du robot. Les transitions impulsionnelles precedentes sont alors transformees par cette commande en des transitions avec des couples finis. Les trajectoires resultantes sont testees en boucle fermee avec et sans erreurs initiales, montrant les performances de la commande. Enfin, des trajectoires definies par des fonctions polynomiales sont utilisees pour le robot sans cheville motorisee. Celles-ci ont permis de dimensionner un prototype de robot marcheur.
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Lessard, Patrick. "Contrôle de la démarche de Headus robot quadrupède dynamique." Mémoire, École de technologie supérieure, 2002. http://espace.etsmtl.ca/812/1/LESSARD_Patrick.pdf.
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Les robots marcheurs font l'objet d'études depuis moins de 25 ans seulement. La revue de littérature contenue dans ce mémoire effectue un survol du problème de la démarche si complexe et des techniques de contrôle associées. La méthode présentée dans cet ouvrage concerne une partie du problème de la démarche, soit l'asservissement des membres du robot. Le contrôleur est basé sur un modèle dynamique. À partir d'une trajectoire assignée, une commande de couple pré-calculé est appliquée au modèle pour calculer les efforts nécessaires pour produire le mouvement du corps et des pattes. La répartition de ces efforts au niveau des articulations est effectuée par un calcul matriciel nommé pseudo-inverse. Dans l'approche proposée, la résolution de la dynamique inverse est simplifiée par deux transformations. La première effectue un changement de coordonnées, ce qui permet de contrôler le robot dans l'espace de travail. La deuxième est basée sur l'hypothèse que les pattes touchant le sol portent le robot et sont considérées sous contraintes. Ceci permet de réduire le modèle et de prendre en charge chaque configuration de patte à savoir si elles sont en contact avec le sol ou non. En somme, cette approche permet de simplifier la conception du contrôleur, réduit le temps de calcul et la complexité du programme. La simulation et l'expérimentation en temps réel sur le robot prototype Haedus ont permis de valider la méthode présentée.
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Scharzenberger, Cody Warren. "Design of a Canine Inspired Quadruped Robot as a Platform for Synthetic Neural Network Control." PDXScholar, 2019. https://pdxscholar.library.pdx.edu/open_access_etds/5135.
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Legged locomotion is a feat ubiquitous throughout the animal kingdom, but modern robots still fall far short of similar achievements. This paper presents the design of a canine-inspired quadruped robot named DoggyDeux as a platform for synthetic neural network (SNN) research that may be one avenue for robots to attain animal-like agility and adaptability. DoggyDeux features a fully 3D printed frame, 24 braided pneumatic actuators (BPAs) that drive four 3-DOF limbs in antagonistic extensor-flexor pairs, and an electrical system that allows it to respond to commands from a SNN comprised of central pattern generators (CPGs). Compared to the previous version of this robot, DoggyDeux eliminates out-of-plane bending moments on the legs, increases the range of motion of each joint, and eliminates buckling of the BPAs by utilizing a biologically inspired muscle attachment approach. A simple SNN comprised of a single isolated CPG for each joint is used to control the front left leg on DoggyDeux and joint angle data from this leg is collected to verify that the robot responds correctly to inputs from its SNN. Future design work on DoggyDeux will involve further improving the muscle attachment mechanism, while future SNN research will include expanding the robot's SNN to achieve coordinated locomotion with all four legs utilizing sensory feedback.
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Bellamy, Pascale. "Méthode d'analyse des systèmes de locomotion de robots, et application à un quadrupède." Grenoble 2 : ANRT, 1988. http://catalogue.bnf.fr/ark:/12148/cb376117102.
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DE, SIQUEIRA MARTINS FILHO LUIZ. "Une approche de supervision de marche pour robots quadrupedes integrant commande et decision." Toulouse 3, 1998. http://www.theses.fr/1998TOU30005.
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Ce travail traite de la conception d'un superviseur de marche pour robots quadrupedes. Ce superviseur peut etre implante dans une architecture generale de controle pour robots mobiles autonomes, telle celle deja definie au laas/cnrs. Il agit sur les sous-systemes pattes, vus comme des manipulateurs a 3 degres de liberte, commandables au choix en force ou en position. Le role du superviseur est de fournir les consignes a ces sous-systemes. Le but de l'integration des fonctions de controle et de decision est d'obtenir l'adaptabilite et la flexibilite necessaires a des applications de robots a pattes dans des situations tres variees. La commande de la plate-forme est effectuee en boucle fermee. On utilise un modele approche, pour diminuer la charge de calcul. L'objectif est d'avoir un compromis, d'une part entre une modelisation et une loi de commande assez simples, et d'autre part des performances suffisantes. L'adaptabilite est obtenue par des modules effectuant un raisonnement qui prend en compte l'etat du robot, les informations issues de modules algorithmiques, et les evenements de marche (contacts avec le sol ou des obstacles, glissements). Ce raisonnement implemente la connaissance des divers comportements a donner au robot. Il est formalise par des regles de production en logique propositionnelle multivaluee, compilees par le systeme kheops (developpe au laas/cnrs). Un module decisionnel intervient sur la facon dont est calculee la distribution des forces appliquees au niveau des pieds, un autre intervient sur la gestion des evenements de marche. La validation des concepts principaux du superviseur est faite par l'intermediaire de simulations numeriques. Ces simulations implementent d'une part un modele dynamique rigoureux du systeme a chaines fermees plate-forme/pattes, et d'autre part les boucles de commande, modules algorithmiques et modules decisionnels.
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Farve, Niaja Nichole. "Design of a low-mass high-torque brushless motor for application in quadruped robotics." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/75658.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 77).
The Biomimetic Robotics Group is attempting to build the fastest quadruped robot powered by electromagnetic means. The limitations in achieving this goal are the torque produced from motors used to power the robot, as well as the mass and power dissipation of these motors. These limitations formulate the need for a lowmass high-torque low-loss motor. This thesis outlines the process of designing a permanent-magnet synchronous motor that meet the goals of the robot while minimizing the total mass. The motor designed from this thesis is compared to motors currently used by the Group when quantifying improvements made. In the process of achieving the goal, a design was formulated using fundamental electromagnetic principles. This design was then tested using finite element analysis. The final design was fabricated in house and wired by hand. The fabricated motor was tested to quantify key performance parameters such as peak cogging torque, peak motor torque, and thermal time constant under robot conditions. The motor designed by this thesis was able to produce more torque than the current motor being used by the Biomimetic Robotics Group, by a factor of 1.6, while decreasing the mass by 23%. A lower than desired packing factor was achieved since the motor was wired by hand resulting in a higher power dissipation and lower than expected motor torque. This design will be used in the quadroped robot after improvements are made to the cogging torque and packing factor.
by Niaja Nichole Farve.
S.M.
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Krupp, Benjamin T. (Benmjamin Thomas) 1975. "Design and control of a planar robot to study quadrupedal locomotion." Thesis, Massachusetts Institute of Technology, 2000. http://hdl.handle.net/1721.1/89276.
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Schmiedeler, James Patrick. "The mechanics of and robotic design for quadrupedal galloping /." The Ohio State University, 2001. http://rave.ohiolink.edu/etdc/view?acc_num=osu1486401895207432.
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ANFLO, FREDRIK. "M8 the Four-legged Robot." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279836.
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In recent times robots are becoming more and more common. They are everywhere. Walking, running, swimming, flying and many of them have much in common with the creatures inhabiting this planet. A lot of it in order to make them appeal more to us, instead of simply being portrayed as stone cold machines. Continuing on the path evolution has laid out before us seems to be a wise decision to make, aspiring to efficiently utilize our knowledge about science and engineering with the vision of improving our future. With the intention to simulate a four legged animal and evaluate the means of interacting with one´s surrounding, a quadruped locomotion system together with two types of sound and voice interacting systems have been assessed. A demonstrator was built to test the real world problems and decide what kind of interacting that is most beneficial. The results indicate that voice commands and speech recognition, rather than sounds from the environment are more practical and robust as a way of interacting with one´s surroundings.På senare tider har robotar blivit mer och mer vanliga. De är överallt. Gående, springande, simmande, flygande och många av dem har mycket gemensamt med de varelser som lever på denna jord. Mycket av detta för att tilltala oss mer, istället för att framstå som enbart iskalla maskiner. Att fortsätta på den väg som evolutionen har lagt framför oss verkar vara ett vist beslut att ta, i strävan efter att effektivt utnyttja våra kunskaper i vetenskap och ingenjörskonst med visionen om att förbättra vår framtid. Med målet att simulera ett fyrbent djur och utvärdera möjligheterna till att interagera med ens omgivning, har ett fyrbent förflyttningssystem tillsammans med två typer av ljud och röstsystem tagits fram. En prototyp kontruerades för att testa de problem som uppstår i den verkliga värden och för att kunna bedöma vilket sätt att interagera som visar vara sig mest fördelaktigt. Resultaten indikerar att röstkommandon och röstigenkänning, snarare än ljuddetektion från omgivningen är mer praktiska och robusta som ett sätt att interagera med sin närmiljö.
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Králík, Jan. "Implementace algoritmů kinematiky pro čtyřnohý chodící robot." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-378735.
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The goal of the work is restore a quadruped walking spider-type robot named Jaromír. Part of the work is a body design that is then printed on a 3D printer. Another part is the design and creation of a new control board, which’ll include sensor equipment appropriate for robot operation. Subsequently, the thesis deals with the design of the tactile sensor’s and their fitting on the legs. The final part is implementation of the algorithm for robot control. The goal was to put the model to a state where it could be used for learning and presentations.
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Chen, Kuan-Liang, and 陳冠良. "Development of a Bionic Quadruped Robots." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/19136196420323756349.
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碩士雲林科技大學
電機工程系碩士班
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This thesis is as the main shaft with bionic quadruped robots, with SolidWork software design and quadruped robots hardware structure of simulation, then use the robot to special combine board to match RC servo motor and SSC32 control board, realize bionic quadruped robots with DIY manufacture. The gait of bionic quadruped robots is planned, matches the human-machine interface of control that is designed and researched and developed by oneself, the gait movements while designing and testing bionic quadruped robots to advance with the human-machine interface of this control. bionic quadruped robots control the key component and mainly use SSC32 control board, among them communication and materials finished between the computer and SSC32 control board by RS232 are transmitted, can read and store the information of each movement, the purpose to achieve quadruped robots gait planning. In addition SSC32 control board can transmit the wireless module, with the thesis developed by human-machine interface of the wireless remote control,, the control of quadruped robots and turned into wirelessly remote controlled.