Tesi etd-06092022-160219 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
SARUBBI, LAURA
URN
etd-06092022-160219
Titolo
PLANNING QUADRUPEDAL LOCOMOTION ON SLOPING TERRAINS
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Garabini, Manolo
correlatore Prof. Bicchi, Antonio
tutor Pollayil, Mathew Jose
correlatore Prof. Bicchi, Antonio
tutor Pollayil, Mathew Jose
Parole chiave
- planning
- quadrupeds
- slope
Data inizio appello
07/07/2022
Consultabilità
Non consultabile
Data di rilascio
07/07/2092
Riassunto
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.
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.
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