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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-06202023-161238


Tipo di tesi
Tesi di laurea magistrale
Autore
IOTTI, FRANCESCO
URN
etd-06202023-161238
Titolo
Design and Control of a Hybrid Wheeled-Legged Quadruped Robot with Mecanum Wheels
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof. Garabini, Manolo
relatore Prof.ssa Pallottino, Lucia
relatore Prof. Angelini, Franco
Parole chiave
  • cad design
  • mecanum wheels
  • motion and path planning
  • motion control
  • omnidirectional movement
  • quadruped robot
  • wheel-leg
Data inizio appello
06/07/2023
Consultabilità
Tesi non consultabile
Riassunto
Hybrid wheel-leg quadruped robots combine the behaviour of animals and cars, mainly the ability to move fast and climb obstacles. First, a choice of omnidirectional wheels is made, to improve the efficiency of the system. Then, design a solution to couple wheels with legs, and integrate all the transmission elements, such as the motor and the gearbox. Next, a joint control is performed with RaspBerry. The total model is decomposed into two simpler, ones when the robot moves with wheels and the others when the robot uses legs. Finally, experiments were conducted to understand the capability of the robot and investigate its limits.
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