Motion planning of quadruped robot in complex environment

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

The application of legged robots is spreading world-wide thanks to their property of being able to move on more difficult terrain than wheeled robots. However, 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, thus it is not surprising that nowadays the motion planning of the legged robots gets more attention.

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. It was created in close collaboration with Zsolt Horváth’s BSc Thesis project, and it is also based on the earlier thesis projects of Bálint Gembicki and Tamás Kapelner.

The thesis starts with an introduction about the robots in general, about their types and the comparison of those. Then it presents the quadruped robot of the department and the potential approximations of the workspace. The thesis contains the implemented motion algorithms, i.e. forward motion in straight line and rotation around the center of gravity in planar and uneven terrain, and the detailed description of the implemented MATLAB functions. The thesis ends with the evaluation of the results and a summary.


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