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Trajectory Planning of a Spider Robot Considering Obstacle Avoidance

Ahmadi Aras, Asila | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 46745 (58)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Ghaemi Osgouie, Kambiz; Khayyat, Amir Ali Akbar
  7. Abstract:
  8. Legged walking and climbing robots have recently achieved important results and developments, but they still need further improvements and study. The spider modeled as an eight-legged system. Legged robots have a body and a number of articulated legs which originate from the body and are put on the ground to hold robot’s weight or are swinging in the air to their new position. Each leg as a kinematic chain can be viewed as a manipulator that acts like a limb and contributes to the overall position and equilibrium of the structure. In order to evaluate and create an effective legged robot, the idea is to draw inspiration from nature. Spider robots present very good performances in terms of accuracy and rigidity. During past decades, as demonstrated by recent works, bio-mimesis can lead to important technical solutions in order to achieve efficient systems able to climb, walk, fly, and swim. The static and quasi-static problems in different slope conditions and the theory of the optimal force distribution have been presented before. They were studied to search for an effective result for the spider eight-legged system in different slope conditions. A novel trajectory planning method for a robot manipulator whose workspace includes several obstacles was proposed. Besides the simulation on obstacle avoidance method for multi-robots in motion control process was investigated. The aim of this thesis is to move the end-point of the spider robot leg from a given starting point to a target while avoiding the point obstacles. Trajectory planning for each of the limbs considering obstacle avoidance is studied
  9. Keywords:
  10. Trajectory Generation ; Obstacle Avoidance ; Robot Manipulator ; Spider ; Inspired Robots

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