Sökning: "Quadruped gait."

Visar resultat 1 - 5 av 6 uppsatser innehållade orden Quadruped gait..

  1. 1. Optimal Gait Control of Soft Quadruped Robot by Model-based Reinforcement Learning

    Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :Niu Xuezhi; [2023]
    Nyckelord :Quadruped Robots; Soft Robotics; Reinforcement Learning; Gait Control; Model-Based Control Optimization; Kvadrupedroboter; Mjukrobotik; Förstärkningsinlärning; Gångkontroll; Optimering av robotkontroll;

    Sammanfattning : Quadruped robots offer distinct advantages in navigating challenging terrains due to their flexible and shock-absorbing characteristics. This flexibility allows them to adapt to uneven surfaces, enhancing their maneuverability. LÄS MER

  3. 2. Statically stable walking robot : Gait pattern generation for a quadruped using PID control

    Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :Awad Alnasrallah; Erik Ebbesen; [2023]
    Nyckelord :PID; Quadrupedal robot; Walking; Gait; Control theory; Mechatronics; Robotics; Statically stable; Self balancing; PID; Fyrbent robot; Gåendes; Gait; Reglerteknik; Mekatronik; Robotik; Statiskt stabil; Självbalanserande;

    Sammanfattning : This report is a bachelor thesis in Mechatronics at KTH. The purpose of the thesis is to design a statically stable walking robot capable of forward movement. A quadrupedal robot is designed, as well as a PID control system. To easily control the legs with sufficient accuracy servo motors are used. LÄS MER

  4. 3. A study on selfbalancing for a quadruped robot

    Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)

    Författare :Joachim Knälmann; Marcus Saläng; [2023]
    Nyckelord :Mechatronics; Quadruped robot; Inverse Kinematics; PID controller; Quadruped gait.; Mekatronik; Fyrbent robot; Inverterad kinematik; PID regulator; Fyrbent robot gång.;

    Sammanfattning : This report will cover the work involved in building a quadruped robot which should to a certain extent resemeble a four-legged mammal. The introduction will present information related to what has inspired the project, purpose/aim, specifications, limitations and research questions. LÄS MER

  5. 4. Omnidirectional Quadruped Robot

    Kandidat-uppsats, KTH/Mekatronik

    Författare :Samuel Stenow; Simon Lindenfors; [2021]
    Nyckelord :Mechatronics; Robotics; Quadruped robot; Omnidirectional robot; Mekatronik; Robotar; Fyrbenta robotar; Multidirektionell robot;

    Sammanfattning : There are a lot of quadruped robots in the world, but few are omnidirectional. Therefore this thesis describes the production and design process of such a robot. Examining earlier quadruped robots determined that a central microcontroller is required to control it, and servo motors are used to power the robots joints. LÄS MER

  7. 5. Continuum Actuator Based Soft Quadruped Robot

    Master-uppsats, KTH/Mekatronik

    Författare :Seshagopalan Thorapalli Muralidharan; Ruihao Zhu; [2020]
    Nyckelord :Soft robots; continuum actuators; closed loop control; quadruped robots; LQR; Mjuka robotar; continuum st¨alldon; sluten loop styrning; fyrbenta robotar; fyrfotarobotar; LQR;

    Sammanfattning : Quadruped robots can traverse a multitude of terrains with greater ease when compared to wheeled robots. Traditional rigid quadruped robots possess severe limitations as they lack structural compliance. LÄS MER