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Modeling Quadruped Robots Using SimMechanics Software and Evaluating and Validating the Dynamic Model, Control, and Stability

Ahmaddakkeh, Dorsa | 2025

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 58142 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Khayyat, Ali Akbar; Selk Ghafari, Ali
  7. Abstract:
  8. 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 SimMechanics approach. Control strategies are explored with a focus on fuzzy control methods for stability and adaptive motion control in dynamic environments. These strategies play a key role in maintaining balance, preventing falls, and optimizing performance under unpredictable conditions. A high-level task framework is introduced to translate desired locomotion into executable motion plans. Special attention is given to motion planning and control algorithms for walking, stair-climbing, and circular motion. Initially, body and leg trajectories are designed to ensure precise movement along predefined paths. A controller is then implemented to guide the robot’s motion, ensuring accurate trajectory tracking. One motion planning algorithm allows the quadruped’s feet to follow a continuous trajectory in Cartesian space, with body motion determined by contact forces during the stance phase. Polynomial splines are used to define foot trajectories, improving adaptability to uneven terrain. The innovation in this research lies in the use of SimMechanics for dynamic modeling and the integration of fuzzy control as a novel approach to balance and stability. These methodologies are expected to enhance quadruped robot performance and contribute to advancements in robotics. In conclusion, this thesis presents a comprehensive study on the dynamic modeling, control, and stability of quadruped robots using advanced simulation and control techniques. The findings aim to improve our understanding of quadruped locomotion and pave the way for future developments in the field
  9. Keywords:
  10. Quadruped Robot ; Fuzzy Controller ; Stability ; Bond Graph ; Dynamic Behavior ; Robot Modeling

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