Motion planning of quadruped robot among obstacles

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Dr. Drexler Dániel András
Institute of Mathematics

Robotic applications are more and more usual nowadays. Initially, robotic research and development was focused on increasing the efficiency of industrial robots substituting human resource. However, thanks to recent technological advancement, the motion planning and control of legged robots is getting more and more attention. The main advantage of legged robots is that they can move in varying, uneven environment opposed to mobile robots equipped with wheels. Albeit, controlling and guarantying the stability of legged robots is a complex problem. Due to their special attributes, legged robots can be found in more and more areas, e.g. in entertainment and military industry.

The thesis project is part of the research taking place in the Department of Control Engineering and Information Technology, Budapest University of Technology and Economics. It is about the motion planning of a quadruped robot in a terrain with obstacles. The thesis uses information from previous thesis projects and is was done in collaboration with Dániel Balogh’s thesis project.

The goal of the project is to carry out modeling and motion planning of a quadruped robot, i.e. it is able to do crab gait locomotion, thus proceed into the desired direction without rotation. The stability of the robot is guaranteed throughout the whole motion process. The motion planning algorithm is further modified to make the robot be able to step over obstacles. The developed algorithms in the thesis are created such that the workspace of the robot legs are approximated with half-circles, opposed to the methods usually used in the literature, where the workspaces are approximated as rectangles that results in more realistic motion and better utilization of the workspace. The thesis also contains the description of the simulation interface that was created in Matlab to test the algorithms. Finally, a new motion pattern is introduced, that utilizes the workspace more effectively, thus resulting in faster motion.


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