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Diploma thesis:Design of Motion Primitives for a Hexapod Walking Robot Operating in a Rough Environment ( PDF )
Author:Mrva Jakub
Supervisor:Ing. Petr Vaněk
Keywords:
Abstract:The crawlers have great potential to be successful in a rough environment due to their high motion capabilities. Along with other internal or external sensors like range-finder, force sensitive sensors, camera, etc., the robot can become an autonomous agent with very high efficiency. In contrast with other approaches, a mass produced hexapod robot without any additional sensors is used in this thesis. The only information about the environment comes from its own actuators. A custom gait which allows the robot traversing rough terrain based on the internal sensors only and with continuous support of at least five legs is developed for this robot.
Submited:May 2014
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