Sökning: "Quadruped"

Visar resultat 1 - 5 av 15 uppsatser innehållade ordet Quadruped.

  1. 1. Ballbot : Quadrouped spherical robot

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

    Författare :Lucas Dahlberg; Felix Löfgren; [2023]
    Nyckelord :Mechatronics; Arduino; CAD; quadruped robot; electronics; Mekatronik; Arduino; CAD; fyrbäddsrobot; elektronik;

    Sammanfattning : This bachelor project in mechatronics aimed to design and build a versatile robot that can both roll and walk using four legs. Control of the robot’s movement was to be achieved by a joystick, with the ability to alter direction in both rolling and walking mode. However, due to time constraints, the rolling algoritm was not implemented. LÄS MER

  3. 2. 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

  4. 3. 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

  5. 4. 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

  7. 5. Most efficient Inverse Kinematics algorithm for Quadruped models : Comparing FABRIK to CCD

    Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

    Författare :Matilda Richardsson; [2022]
    Nyckelord :Inverse Kinematics; FABRIK; CCD; Quadrupeds; Computer Graphics;

    Sammanfattning : This paper compares the two heuristic inverse kinematics methods: Forward And Backward Reaching Inverse Kinematics (FABRIK) and Cyclic Coordinate Descent (CCD) in the use cases concerning quadruped models. Unoptimised versions of the two algorithms were implemented into a game engine and evaluated on a quadruped model. LÄS MER