Print Email Facebook Twitter Model-based motion optimization for quadruped robots with an actuated articulated torso Title Model-based motion optimization for quadruped robots with an actuated articulated torso Author Kockelkoren, Michiel (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Shi, S. (mentor) Mazo, M. (mentor) Della Santina, Cosimo (graduation committee) Zhang, Luyao (graduation committee) Degree granting institution Delft University of Technology Programme Mechanical Engineering | Systems and Control Date 2024-01-17 Abstract In recent years, the deployment of ground-based mobile robots has gained more and more interest in various domains. In contrast to other types of mobile robots, legged robots can traverse irregular terrains, climb stairs, and step over obstacles. However, these unique properties intensify the energy demand and require highly advanced perception methods, actuator designs, and motion control algorithms. The most significant challenges in legged robotics lie in robustness, energy efficiency, and agility.In recent years, the integration of an articulated torso or active spine, inspired by the body motion of high-performance mammals like the cheetah, has shown promising results. Various studies observed higher maximum velocities and lower energy consumption compared to a rigid torso. However, in these studies, the compliant systems were typically controlled using basic control strategies. In recent years, the development of highly dynamic model-based motion optimization strategies has greatly enhanced the overall performance of various legged robots. Therefore, a model-based motion optimization scheme is developed specifically for articulated quadruped robots. This scheme fully exploits the additional degrees of freedom of the torso to enhance the dynamic performance of the legged robot further. Subject Legged RobotsQuadrupedspineTrajectory OptimisationMotion planningMotion and Path PlanningDynamic modelingcentroid-based routingmodel-based optimizationModel-based planningPlanning algorithmsActuated spineArticulated torsoLegged locomotion To reference this document use: http://resolver.tudelft.nl/uuid:a0885ea5-3fa5-4fa8-a350-6f2c04f6c65c Bibliographical note https://gitlab.com/kockelkorenmichiel/compliant_spot.git Gitlab repository https://www.youtube.com/playlist?list=PLmZ4ovuqQhMDMwtWewSW37cCfZYxINFxL Unspecified Videos Part of collection Student theses Document type master thesis Rights © 2024 Michiel Kockelkoren Files PDF Thesis_Project_Kockelkoren.pdf 13.83 MB Close viewer /islandora/object/uuid:a0885ea5-3fa5-4fa8-a350-6f2c04f6c65c/datastream/OBJ/view