Probe-before-step gait framework for multi-legged robot locomotion over terrains with risk of collapse
Tennakoon, Kulatunga Mudiyanselage Eranda Bandara (2021) Probe-before-step gait framework for multi-legged robot locomotion over terrains with risk of collapse. PhD thesis, Queensland University of Technology.
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Kulatunga Mudiyanselage Eranda Bandara Tennakoon Thesis
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Description
In many risky tasks such as search and rescue, it is often safer and cost-effective to send robots in place of humans. Multi-legged robots are good at traversing rough terrain, but handling terrain deformations is still a challenge. This thesis proposes a framework allowing multi-legged robots to safely probe the terrain using their legs and test it for subsidence before walking. Two new robot motion control algorithms were introduced that enabled the subsequent development and implementation of two new crawling gaits for hexapod robots. Thanks to this method, the robot can walk safely on dangerous, locally collapsible terrain.
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| ID Code: | 209311 |
|---|---|
| Item Type: | QUT Thesis (PhD) |
| Supervisor: | Peynot, Thierry, Roberts, Jonathan, & Kottege, Navinda |
| Keywords: | legged robots, deformable terrain, multi-legged robot locomotion, terrain collapse, terrain probing, rough terrain locomotion |
| DOI: | 10.5204/thesis.eprints.209311 |
| Divisions: | Current > QUT Faculties and Divisions > Faculty of Engineering Current > Schools > School of Electrical Engineering & Robotics |
| Institution: | Queensland University of Technology |
| Deposited On: | 04 May 2021 10:10 |
| Last Modified: | 13 Feb 2025 00:52 |
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