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Modeling a Quadruped Robot Named Argos Using Bond Graph-Based Method and path Planning for It

Moghadami, Amir Hossein | 2024

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 58141 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Selk Ghafari, Ali; Khayyat, Ali Akbar
  7. Abstract:
  8. Quadruped robots are highly valued in robotics due to their excellent mobility and adaptability to rough terrains, where traditional wheeled robots may fail. These robots can traverse uneven surfaces, climb obstacles, and maintain stability, making them ideal for applications in environments that are difficult to access by other robotic platforms. The Argos [1] quadruped robot is an example of such a robot, designed for environmental auditing in agricultural settings. It is well-suited to tackle challenges such as uneven terrain, narrow spaces, and the need for gentle interaction with delicate plants. This thesis focuses on the development and validation of a highly accurate and efficient bond graph model for the Argos quadruped robot. The bond graph modeling approach illustrates the flow of energy throughout the system and provides a robust framework for representing the robot’s dynamic behavior. By modeling the robot’s components as interconnected elements of energy storage and transformation, the bond graph model captures both linear and angular dynamics, offering valuable insights into energy conservation, storage, and dissipation throughout the robot. To ensure the accuracy and reliability of the bond graph model, it is validated against a detailed SimMechanics model developed in MATLAB Simulink. The validation process involves careful comparisons across multiple aspects, including structural representation, dynamic behavior and performance metrics. The comparison confirms that both models produce similar results, establishing the bond graph model as a reliable tool for simulating the dynamics of quadruped robots. The combination of bond graph modeling and the development of path planning algorithms enhances our understanding of quadruped robot dynamics and paves the way for future advancements in robotic applications within agriculture and other sectors requiring navigation through complex environments. This work not only contributes to the theoretical foundations of robotic modeling but also has practical implications for deploying autonomous robots in real-world scenarios where efficiency, reliability, and adaptability are crucial
  9. Keywords:
  10. Bond Graph ; Modeling ; Quadruped Robot ; Robot Pathplanning ; Robot Design

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