Print Email Facebook Twitter Trajectory Optimization For Hybrid Walking-Driving Motions On Wheeled Quadrupedal Robots Title Trajectory Optimization For Hybrid Walking-Driving Motions On Wheeled Quadrupedal Robots Author Sekoor Lakshmana Sankar, Prajish (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Vallery, Heike (mentor) Bjelonic, Marko (mentor) Hutter, Marco (mentor) Wisse, Martijn (graduation committee) Schwab, Arend (graduation committee) Degree granting institution Delft University of Technology Date 2019-10-29 Abstract Wheeled-legged (hybrid) robots have the potential for highly agile and versatile locomotion in any real-world application requiring rapid, long-distance mobility skills on challenging terrain. The ability to walk and drive simultaneously is an attractive feature of these hybrid systems, but is unexplored in literature. This thesis work presents an online trajectory optimization framework for high-dimensional wheeled-legged quadrupedal robots where the feet and base trajectories are generated in a model predictive control fashion for robustness against disturbances. Our feet optimization employs a unique parameterization that captures the velocity constraints of the wheels’ rolling and our base optimization uses a ZMP-based balance criterion. Our approach is verified on a torque-controlled quadrupedal robot with nonsteerable wheels. The robot performs hybrid locomotion with different gait sequences on flat and rough terrain. Moreover, our optimization framework generates base trajectories at a rate of about 100 Hz and feet trajectories at 1000 Hz or higher. In addition, we validated the robotic platform at the Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge, where the robot rapidly maps, navigates, and explores dynamic underground environments. Subject Legged RobotsTrajectory OptimizationOptimal Control To reference this document use: http://resolver.tudelft.nl/uuid:d9ab7bed-6512-4fc0-af26-a377546ec41c Part of collection Student theses Document type master thesis Rights © 2019 Prajish Sekoor Lakshmana Sankar Files PDF Prajish_Sankar_Master_Thesis.pdf 7.02 MB Close viewer /islandora/object/uuid:d9ab7bed-6512-4fc0-af26-a377546ec41c/datastream/OBJ/view