In the context of control, the motion of the legged robot is very challenging compared with traditional fixed manipulator. Recently, many researches have been conducted to control the motion of legged robot with different techniques. On the other hand, manipulation tasks have been considered in many studies. These studies solve either the mobility or the manipulation problems, but integrating both properties in one system are still not available.
In this thesis, a control algorithm is presented to control both locomotion and manipulation in a six-legged robot. Joint redundancy of the robot will be exploited in order to generate whole body motion behaviour.
In order to qualify the robot to perform more tasks in addition to the walking task, new constraints are implemented. Adding or removing constraints will cause change in the size and structure of motion space. Therefore, a trade-off between the number of the achieved tasks and the constraints must be realised. Furthermore, an appropriate hierarchy should be imposed in order to ensure an accurate decoupling between tasks. Decoupling tasks will enable the interference between tasks and preventing conflicts. Consequently, this allows full exploiting to redundant DoFs and enhancing the robot performance.
A hexapod robot for humanitarian demining
Meet the Principal Investigator(s) for the project
Dr Maysam Abbod - Education
Dr Maysam F. Abbod (FIET, CEng, SMIEEE, SFHEA) He received BSc degree in Electrical Engineering fromUniversity of Technology in 1987. PhD in Control Engineering fromUniversity ofSheffield in 1992. From 1993 to 2006 he was with the Department of Automatic Control and Systems Engineering at theUniversity of Sheffield as a research associate and senior research fellow
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Project last modified 15/07/2021