EFFECTIVENESS OF CLOSED-LOOP INVERSE-KINEMATIC LANDMARK NAVIGATION METHOD ON DRIFTING AND HEADING ERRORS OF IMPRECISE MULTI-LEGGED ROBOTS

Author

Thong Quang Nguyen

Graduation Semester and Year

2021

Language

English

Document Type

Thesis

Degree Name

Master of Science in Mechanical Engineering

Department

Mechanical and Aerospace Engineering

First Advisor

Alan Bowling

Abstract

This work addresses the effectiveness of a closed-loop inverse-kinematic control methodology on alleviating drifting and heading errors in the walking and turning of a hexapod robot. Most work in this area focuses on stability, hardware design, and control. This work is aimed at controlling imprecise hardware on unknown structured environments. The proposed controller uses a camera and an ultrasonic sensor as sensory feedback. It also uses the well-known tripod gait for locomotion, implemented with the closed-loop inverse-kinematic method. Experimental results show the effectiveness of this approach in walking and turning the hexapod on an unknown surface.

Keywords

Multi-legged robot, Imprecise robot, Drifting error, Heading error

Disciplines

Aerospace Engineering | Engineering | Mechanical Engineering

License

This work is licensed under a Creative Commons Attribution-NonCommercial-Share Alike 4.0 International License.

Comments

Degree granted by The University of Texas at Arlington

Recommended Citation

Nguyen, Thong Quang, "EFFECTIVENESS OF CLOSED-LOOP INVERSE-KINEMATIC LANDMARK NAVIGATION METHOD ON DRIFTING AND HEADING ERRORS OF IMPRECISE MULTI-LEGGED ROBOTS" (2021). Mechanical and Aerospace Engineering Theses. 829.
https://mavmatrix.uta.edu/mechaerospace_theses/829