dc.contributor.author |
Ullah, Hassan |
|
dc.date.accessioned |
2023-07-24T11:02:15Z |
|
dc.date.available |
2023-07-24T11:02:15Z |
|
dc.date.issued |
2023 |
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dc.identifier.other |
318009 |
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dc.identifier.uri |
http://10.250.8.41:8080/xmlui/handle/123456789/34989 |
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dc.description |
Supervisor: Dr. Umar Shahbaz Khan |
en_US |
dc.description.abstract |
Research in legged robots has recently been an exciting and expanding field of research. Legged robots are becoming more and more robust and stable. But still legged robots are far behind in speed and cost of transport as compared to wheeled robots.
The purpose of this thesis is to improve the energy efficiency and speed of legged robots using biomimicry. As Nature has evolved efficient and optimized solutions over millions of years. Biological systems are studied to understand their mechanisms and apply those principles to design robots that can perform tasks more effectively and efficiently. A model is trained on animal dataset and from that trained model, limb length of the robot is predicted. In this way by emulating nature, the efficiency and functionality of natural systems is channelized to improve the performance of legged robot.
In this thesis, the design, implementation and control of a hybrid walk and roll quadruped robot is presented. The robot's design is based on a combination of a rolling body and four legs, which allows the robot to switch between walking and rolling modes depending on the terrain condition. This allows the robot to make use of both systems to move in an efficient manner. Like on flat surface, robot make use of wheel to get high speed.
The robot's control is based on a combination of kinematic and dynamic models, which allows for a balance between stability and mobility. By leveraging innovative approaches in system design, actuation, and control, this research aims to bridge the gap in the field of Legged Robotics and Wheel Robotics.
The robot's performance and capabilities are also explored by conducting experiments in different modes. The results are analyzed and compared to demonstrate the potential of the hybrid walk and roll quadruped robot in various applications. The results show that due to its adaptability in different conditions by switching between walking and rolling mode, the hybrid walk and roll quadruped robot can achieve a higher speed and energy efficiency compared to traditional quadruped robots. |
en_US |
dc.language.iso |
en |
en_US |
dc.publisher |
College of Electrical & Mechanical Engineering (CEME), NUST |
en_US |
dc.subject |
Keywords—Quadruped Robot, Wheeled Robot, Mechanical Design, Dynamic Locomotion, Static Structural Analysis, Motion generation, Machine learning, Walking Robot, Hybrid Robot |
en_US |
dc.title |
Design of a Robotic Leg for a Four-Legged Mule Robot |
en_US |
dc.type |
Thesis |
en_US |