| Author | Sutyasadi, Petrus |
| Note | A dissertation submitted in partial fulfillment of the requirements for the
degree of Doctoral of Engineering in
Mechatronics
|
| Publisher | Asian Institute of Technology |
| Abstract | There are many types of land locomotion mechanisms with different strength and
weakness. Locomotion using wheels are among the most popular because of its simplicity in structure and control. However there are several terrains where it is not possible to pass by the wheels locomotion. In this situation, locomotion using legs is preferred. In this research, a quadruped robot is developed. As a four-leg locomotion system, the robot has faster speed during dynamic trotting gait motion compared to static crawling gait motion. However, during dynamic gait motion, dynamic stability control is required, especially when the robot is under impact disturbances. In dynamics control of the quadruped robot, several researchers simplified and modeled the robot as an inverted pendulum or a biped robot and neglected mass and inertia of the legs. Practically, mass and inertia of the legs can give significant effects to the system. Linear robust control algorithm is proposed to control the quadruped robot’s leg positions after sideway impact disturbance using foothold recovery point (FRP) method. FRP method is a method for the quadruped robot to find position of the reactive step after impact based on massless leg compass biped model. The push recovery control for the FRP
is conducted using a structure specified mixed sensitivity H 2/H∞ robust controller. Gait pattern tracking is controlled by structure specified H∞ robust controller. Zero Moment Point (ZMP) based balancing control is employed to maintain stability of the robot. The results show that FRP method provides appropriate feet positions after impact disturbance. The proposed robust controller works effectively under model uncertainties; such as actuator and leg inertia parameters variation. The quadruped robot is able to trot stably on several types of surfaces and able to maintain its stable positions after sideway
impact disturbances. |
| Year | 2016 |
| Type | Dissertation |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun
|
| Examination Committee(s) | Mongkol Ekpanyapong;Teerapat Sanguankotchakorn;Yamakita, Masaki |
| Scholarship Donor(s) | Ministry of Research, Technology and Higher
Education (RISTEKDIKTI), Indonesia |
| Degree | Thesis (Ph.D.) -- Asian Institute of Technology, 2016 |