Tipo di tesi
Tesi di laurea magistrale
Titolo
PLANNING QUADRUPEDAL LOCOMOTION ON SLOPING TERRAINS
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Riassunto (Italiano)
The aim of this thesis is the development of a planning algorithm for a quadrupedal locomotion on terrains with different slopes.
In this thesis a fast and efficient planning is proposed that always meets the requirement of static stability, both on flat terrains and not. The novelty and the simplicity of this approach is that there is no need to use optimization’s procedures or estimation’s methods within the algorithm. This is the greatest advantage of this planning because it overcomes the majority of the problems and difficulties deriving from the navigation and control modules development for locomotion on sloping terrains.
