Development of motion planning algorithm of a quadruped robot

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Péter Gábor
Department of Control Engineering and Information Technology

Nowadays robotics is one of the fastest developing fields in technology. The application of legged robots is getting more widespread thanks to their property of being able to move on more difficult terrain than wheeled robots. Accordingly, their control is a very complex problem, because it’s important to guarantee the stability during movement and to make sure that the motion is energy efficient. The motion primitives for legged locomotion are more difficult than in the case of mobile robots, thus it is not surprising that the motion planning of the legged robots gets more attention in the world.

This thesis presents the high level motion planning of the quadruped robot used by the Laboratory of Intelligent Robots at the Budapest University of Technology and Economics, Department of Control and Informatics, implemented and simulated in MATLAB. The most effective simulated motion planning algorithms are implemented in an Arduino platform as well.

The thesis starts with an introduction about the robots in general and the basics of path planning. Then it presents the quadruped robot located at the department and the potential approximations of its workspace. The thesis contains the simulation panel made for easier and versatil testing and the implemented motion algorithms, i.e. forward motion in straight line and rotation around the center of gravity in planar and uneven terrain in the case of discontinuous and continuous movement pattern. After the simulating chapters the Arduino platform is discussed along with, its attributions and the detailed description of the implemented C++ functions. The thesis ends with the evaluation of the results and a summary.


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