Paskarbeit, Jan: Consider the robot - Abstraction of bioinspired leg coordination and its application to a hexapod robot under consideration of technical constraints. 2017
Inhalt
- Acknowledgments
- Summary
- Introduction
- Legged Robots
- Gait Control
- Fixed Gaits
- Bioinspired Gait Control
- Technical Free Gait Controllers
- Restrictedness-Driven Free Gait Control
- Compliant Actuation
- Outline
- Robot Design
- The Biological Model (Carausius morosus)
- The Transfer to a Technical System
- Leg Actuator Design
- Hector — The Six-Legged Robot
- Robot Simulator
- Communication Framework
- Summary
- Evaluation of Static Stability of Walking Stick Insects
- Evaluation of Walknet Coordination Rules Regarding Maintenance of Static Stability
- Description of Coordination Rules
- Alternative PEP Definitions
- Previous Implementations of the Coordination Rules for Application on Robots
- Evaluation of Static Stability of Hector at Varying Coordination Rule Strengths
- Summary
- Bioinspired Control of a Hexapod Robotic System
- Overview of the Walking Controller
- The Selector Module and the Definition of the Leg Workspaces
- Unrestrictedness Definitions
- Swing-, Stance-, and Swing-Target-Unrestrictedness
- Unifying Unrestrictedness and Inter-Leg Coordination
- The Stance Module
- The Swing Module
- Selection of a Swing-Target
- Trajectory Generation
- Collision Detection and Evasion Movements
- Dealing with Restrictions During Swing Phase
- The Stability Module
- Speed-Reducing Measures
- Beyond Biology — Further Coordination Influences
- Sequence of Operation
- Summary
- Optimization of Walking and Relative Assessment Measures
- Gait Regularity as Assessment Measure
- Selection of Walking Parameters for Optimization
- Optimization Process for Walking
- Results for Different Locomotion Tasks
- Summary
- Application of the Bioinspired Control on HECTOR
- Evaluation of Forward Walking Gait Patterns
- Visual Collision Avoidance
- Stance Height Adaption for Locomotion in Rough Terrain
- Summary
- Conclusion
- Appendix Kinematics
- Forward Kinematics
- Inverse Kinematics
- Velocity Kinematics and Force-Torque Relationship
- Singularity of the Forward Kinematics
- Appendix Tables of Parameters
- Acronyms
- Bibliography