Path planning of quadruped robots in complex environment

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Dr. Drexler Dániel András
Department of Control Engineering and Information Technology

Currently, the development of robotics, involving walking robots – the topic of the present thesis- is gaining higher and higher importance. Walking robots are being used in all areas of life, from arms industry to health care or toy industry. It is imaginable that we will be able to use human-sized walking robots in dangerous situations for example for replacing or co-operating with firefighters, which could save many human lives.

In this work, I studied four-legged walking robots. Based on principles reported in the literature, I established the kinematic model of the manipulator, and I solved its forward and inverse kinematics problems. Based on the data of two sensors attached to the lower end of all robot legs - a contact sensor and an orientation sensor which measures the angle between the ground and the leg-, and the position of the robot legs we can acquire the equation of the tangent plane of the complex environment. It is known, that the robot leg can move in a half-sphere-shaped area. From the plane and half-sphere equation, I calculated the workspace data for the continuous walking. The shape of the workspace is an ellipse. Since the compatibility with existing step planner algorithms is inevitable, the workspace needed to be approximated with a circle. Utilizing the algorithm developed in this work, now it is possible to move the robot in a complex environment. The code was checked and tested on a previously programmed simulation.


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