Modelling and in-flight torso attitude stabilization of a jumping quadruped

Papadakis, Michail; Παπαδάκης, Μιχαήλ

dc.contributor.author	Papadakis, Michail	en
dc.contributor.author	Παπαδάκης, Μιχαήλ	el
dc.date.accessioned	2025-01-10T08:56:53Z
dc.date.available	2025-01-10T08:56:53Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/60695
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.28391
dc.rights	Αναφορά Δημιουργού - Μη Εμπορική Χρήση - Παρόμοια Διανομή 3.0 Ελλάδα	*
dc.rights.uri	http://creativecommons.org/licenses/by-nc-sa/3.0/gr/	*
dc.subject	Robotics	en
dc.subject	Model Predictive Control	en
dc.subject	Modelling	en
dc.subject	Attitude Control	en
dc.subject	Quadruped	en
dc.subject	Ρομποτική	el
dc.subject	Μοντελοποίηση	el
dc.subject	Έλεγχος προσανατολισμού	el
dc.subject	Τετράποδο ρομπότ	el
dc.subject	Προβλεπτικός έλεγχος	el
dc.title	Modelling and in-flight torso attitude stabilization of a jumping quadruped	en
dc.title	Μοντελοποίηση και εν πτήσει σταθεροποίηση του προσανατολισμού του σώματος ενός αλτικού τετράποδου	el
heal.type	bachelorThesis	el
heal.classification	Robotics	en
heal.language	en	el
heal.access	free	el
heal.recordProvider	ntua	el
heal.publicationDate	2024-07
heal.abstract	This thesis contributes to the modelling, simulation and attitude control of the jumping legged robot Olympus, designed for Martian lava tube exploration. The robot is currently being developed at the Autonomous Robot Lab (A.R.L.) at the Norwegian University of Science and Technology (N.T.N.U.). The first step involved the detailed kinematic and dynamic modelling of the quadruped. Special attention was given to handling the robot’s workspace constraints, as limb movements during reorientation manoeuvres are close to its torso. Next, a hierarchical model based attitude controller was developed for the robot. The first module, the Body Planner, optimizes the torso trajectory to track a reference orientation based on virtual torques applied on a single rigid body that has comparable inertia to the quadruped. The second control module, the Leg Planner, attempts to track these virtual torques for only one leg while respecting its workspace and input constraints. To achieve high solution speeds and online calculation of the optimal trajectories, a switching strategy is utilized to update various controller parameters through a Finite State Machine (FSM)-based resetting approach. Finally, an allocation strategy projects the optimized joint trajectory of the one leg to the others. This projection ensures that collisions between legs cannot occur, cancels parasitic torques and lowers the overall computational cost of the controller as only one optimization problem must be solved to track the virtual torques. The performance of the controller is evaluated in a high fidelity simulation. The robot is able to stabilize 90◦ single axis orientation manoeuvres in 6 seconds for roll, 2.5 seconds for pitch, and 5.5 seconds for yaw in free floating conditions. Additionally, a parametric study investigated the effect of increasing the paw and torso mass. The proposed controller is deployed on the actual robot. In the first experiment the robot achieves 90◦ single axis turns in 4s for roll and 7s for yaw. In the second test, the robot manages to track changing orientation references. The outcome of this thesis is a high fidelity, configurable simulation framework for further development of Olympus and an attitude controller that manages to stabilize the desired orientation while respecting the robot’s operational constraints.	en
heal.advisorName	Alexis, Kostas	en
heal.advisorName	Poulakakis, Ioannis	en
heal.committeeMemberName	Παπαδόπουλος, Ευάγγελος	el
heal.committeeMemberName	Αντωνιάδης, Ιωάννης	el
heal.committeeMemberName	Πουλακάκης, Ιωάννης	el
heal.academicPublisher	Εθνικό Μετσόβιο Πολυτεχνείο. Σχολή Μηχανολόγων Μηχανικών. Τομέας Μηχανολογικών Κατασκευών και Αυτομάτου Ελέγχου	el
heal.academicPublisherID	ntua	el
heal.numberOfPages	67 σ.	el
heal.fullTextAvailability	false