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ahmaddakkeh--dorsa
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Modeling Quadruped Robots Using SimMechanics Software and Evaluating and Validating the Dynamic Model, Control, and Stability
,
M.Sc. Thesis
Sharif University of Technology
;
Khayyat, Ali Akbar
(Supervisor)
;
Selk Ghafari, Ali
(Supervisor)
Abstract
Precise dynamic modeling, control, and stability evaluation of quadruped robots are crucial for improving their performance in diverse environments, particularly on rough or uneven terrains where wheeled robots face limitations. This thesis employs SimMechanics software to model, validate, and analyze the dynamic behavior of quadruped robots, providing a comprehensive understanding of their performance in various conditions. To ensure accuracy and robustness, a comparative analysis is conducted between the SimMechanics model and a bond graph model developed by a fellow researcher. The expectation is that both models will produce consistent results, confirming the effectiveness of the...