Model-based motion optimization for quadruped robots with an actuated articulated torso

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...

Trajectory planning and following in urban environments: To reduce traffic accidents involving vulnerable road users

This thesis presents a comprehensive approach to integrating a trajectory planner and follower for autonomous vehicles (AVs) using model predictive contouring control (MPCC). The planner generates collision-free trajectories with a kinematic bicycle model, while the follower tracks them using a dynamic bicycle model with a smaller integration...