Modelling the hybrid dynamics of a hexapedal robot: Predicting the Zebro's path using an identified leg-ground slippage model

Legged locomotion is a discrete event system (DES) due to the ever changing contact states of each leg. As such, it requires a nonlinear modelling method to predict the trajectory of a legged robot. One such robot has been focused on throughout this thesis; the six legged "Zebro''. With its half-circular legs, the Zebro is well suited for...

Adaptive Gait Switching Control Structure using Max Plus in Legged Locomotion

The ZeBRo (Dutch abbreviation: Zesbenige Robot, six-legged robot), is a walking robot designed by the TU Delft, with its foundations on the RHex. The current version of the ZeBRo project, the DeciZebro, is made for the research to swarming in robotics, and is about the size of an A4-paper. <br/>To counter these shortcomings of CPG (a method to...