Balancing control and navigation control for quadruped robot | |
| Author | Fazal, Tanzeel Ahmad |
| Call Number | AIT Thesis no.ISE-21-11 |
| Subject(s) | Robotics Mobile robots Mechanical engineering |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | Nowadays in advanced robotics, mobile robots including legged as well as wheeled have become most interesting research topic. Meanwhile, Legged robots have more future in coming days because of its capabilities to survive in challenging rough terrains and can avoid obstacles more conveniently instead of wheeled robots. However, in near future legged robots will replace all the workers in hazardous environment for human safety and will assist different official organizations including military and bomb disposal forces to do their tasks remotely or autonomously. The developed robotic system used four legs having 3 degree of Freedoms in each leg for motion. Trotting gait pattern is faster and better for dynamic stability as compared to other gait patterns i.e., static walking and amble gait. Moreover, stability control is also essential during dynamic mobility of robot. Hence, modeled as biped robot for stability with massless and zero inertia of the leg. But in real environment, these factors effects significantly. Linear robust control is implemented for gait tracking and sideways disturbances retrieval when external forces applied. Sideways disturbances retrieval (SDR) can be defined as the position of legs in free gait pattern to retrieve its body against sideways disturbances. Proposed control is mixed H2/H∞ robust controller in structure of PID as well as the Zero Moment Point (ZMP) balancing technique is adopted to balance the body during trotting. For navigation control, an open loop approximation method has adopted, and robot can move remotely as well as autonomously. Consequently, results confirms that robust control for dynamic stability during trotting and sideways disturbances retrieval performs well. And navigation control has minor errors due to open loop system. |
| Year | 2021 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Pisut Koomsap;Mongkol Ekpanyapong |
| Scholarship Donor(s) | His Majesty the King's Scholarships (Thailand) |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2021 |