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Locomotion Control for a Wheel-on-Leg Robot in Unstructured Terrain
Locomotion of wheeled robots is limited by extreme terrain. In contrast, legged robots have the potential to overcome this by adapting their gaits. This project combines the advantages of both systems by developing a novel wheel-on-leg robot.
Keywords: Legged and Wheeled Robots, Locomotion Control, Programming, C++
Wheel-on leg robots are a unique type of exploration platform that can drive and walk simultaneously. This offers high degree of mobility in any kind of terrain. The robot is able to decrease its power consumption by using its wheels. In addition, the legs enable the robot to climb over obstacles in challenging terrain. The ability to change the leg configuration or to adapt the robot's pose is also advantageous when optimizing the traction of the wheels and increasing the stability of the robot in uneven terrain. This high mobility comes with the drawback of high motion complexity. The goal of this project is to explore locomotion controller for wheel-on-leg robots and to implement these algorithms on our novel robot.
Wheel-on leg robots are a unique type of exploration platform that can drive and walk simultaneously. This offers high degree of mobility in any kind of terrain. The robot is able to decrease its power consumption by using its wheels. In addition, the legs enable the robot to climb over obstacles in challenging terrain. The ability to change the leg configuration or to adapt the robot's pose is also advantageous when optimizing the traction of the wheels and increasing the stability of the robot in uneven terrain. This high mobility comes with the drawback of high motion complexity. The goal of this project is to explore locomotion controller for wheel-on-leg robots and to implement these algorithms on our novel robot.
- Exploration of locomotion controller for wheel-on-leg robots.
- Implementation of the locomotion algorithms on our novel robot.
- Performance evaluation of the control algorithms in unstructured and loose terrain.
- Exploration of locomotion controller for wheel-on-leg robots. - Implementation of the locomotion algorithms on our novel robot. - Performance evaluation of the control algorithms in unstructured and loose terrain.
- Modelling and control of robots.
- Kinematics and dynamics of robots.
- C++ programming.
- Modelling and control of robots. - Kinematics and dynamics of robots. - C++ programming.
Please contact Marko Bjelonic (marko.bjelonic@mavt.ethz.ch) for any questions. Your application should include a brief motivational statement and your CV.
Please contact Marko Bjelonic (marko.bjelonic@mavt.ethz.ch) for any questions. Your application should include a brief motivational statement and your CV.