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Trajectory planning for a quadruped ...

Royal Military College of Canada (Canada).

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Trajectory planning for a quadruped robot.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Trajectory planning for a quadruped robot./
Author:	McRae, Sarah Carroll.
Description:	148 p.
Notes:	Source: Masters Abstracts International, Volume: 47-02, page: 1040.
Contained By:	Masters Abstracts International47-02.
Subject:	Applied Mechanics. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR42144
ISBN:	9780494421444

Trajectory planning for a quadruped robot.
McRae, Sarah Carroll.

Trajectory planning for a quadruped robot. - 148 p.

Source: Masters Abstracts International, Volume: 47-02, page: 1040.

Thesis (M.A.Sc.)--Royal Military College of Canada (Canada), 2008.

This thesis presents the development of a trajectory planner for a four legged robot. This study is the initial step toward integrating a quadruped robot into a team of wheeled robots available in the Robotics lab at the department of Mechanical Engineering at RMC. For the purposes of this thesis, the specifics of the SILO 4 robot have been used in the trajectory planner. The trajectory planner that has been developed can be implemented on any quadruped robot with the insect leg architecture.

ISBN: 9780494421444Subjects--Topical Terms:

1018410
Applied Mechanics.

Trajectory planning for a quadruped robot.
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020 $a 9780494421444
035 $a (UMI)AAIMR42144
035 $a AAIMR42144
040 $a UMI $c UMI
100 1 $a McRae, Sarah Carroll. $3 1018793
245 1 0 $a Trajectory planning for a quadruped robot.
300 $a 148 p.
500 $a Source: Masters Abstracts International, Volume: 47-02, page: 1040.
502 $a Thesis (M.A.Sc.)--Royal Military College of Canada (Canada), 2008.
520 $a This thesis presents the development of a trajectory planner for a four legged robot. This study is the initial step toward integrating a quadruped robot into a team of wheeled robots available in the Robotics lab at the department of Mechanical Engineering at RMC. For the purposes of this thesis, the specifics of the SILO 4 robot have been used in the trajectory planner. The trajectory planner that has been developed can be implemented on any quadruped robot with the insect leg architecture.
520 $a The trajectory planner used a two phase discontinuous creeping gait in conjunction with a discontinuous spinning gait to plan the different foot and body positions to follow a desired path. Static stability was checked and maintained throughout the gaits by ensuring that the projection of the centre of gravity would always remain within the support polygon. The body and foot positions produced by the gaits were joined using appropriate trajectories and then the Inverse Kinematic Problem was solved to produce joint trajectories that would allow a quadruped to follow a desired path. The dynamics of the robot legs were also developed and the produced joint variables were then used to obtain torque requirements to allow the motors to be sized.
520 $a The trajectory planner allows a quadruped robot to closely follow a given two dimensional path by producing the required joint positions, velocities and accelerations. Appropriate gaits are used in conjunction with stability analysis, leg and body trajectories, and kinematic equations to allow for omni-directionality of locomotion, simplicity of implementation and maintenance of static stability.
590 $a School code: 1103.
650 4 $a Applied Mechanics. $3 1018410
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0346
690 $a 0548
690 $a 0771
710 2 $a Royal Military College of Canada (Canada). $3 1018792
773 0 $t Masters Abstracts International $g 47-02.
790 $a 1103
791 $a M.A.Sc.
792 $a 2008
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR42144