Gait Generation for a Quadrupedal Robot / (Record no. 612422)
[ view plain ]
| 000 -LEADER | |
|---|---|
| fixed length control field | 02170nam a22001577a 4500 |
| 082 ## - DEWEY DECIMAL CLASSIFICATION NUMBER | |
| Classification number | 629.8 |
| 100 ## - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Khan, Zainullah |
| 245 ## - TITLE STATEMENT | |
| Title | Gait Generation for a Quadrupedal Robot / |
| Remainder of title | Zainullah Khan |
| 264 ## - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE | |
| Place of production, publication, distribution, manufacture | Islamabad : |
| Name of producer, publisher, distributor, manufacturer | SMME- NUST; |
| Date of production, publication, distribution, manufacture, or copyright notice | 2024. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 89p. |
| Other physical details | Islamabad : SMME- NUST; Soft Copy |
| Dimensions | 30cm |
| 500 ## - GENERAL NOTE | |
| General note | Quadrupedal robots have gained significant research interest due to their ability to<br/>achieve agile and stable locomotion over complex terrains. Such locomotion can be<br/>achieved by combining various gaits, however, simply changing robot gaits does not<br/>guarantee robust and stable behavior. To ensure stable robot locomotion, gaits must<br/>be seamlessly blended. Current methods of gait transition include model-based, mainly<br/>Model Predictive Control (MPC), approaches, which are limited by the use of handengineered gaits; Reinforcement Learning (RL)-based methods, which address these<br/>limitations but require extensive training; and hybrid methods that combine multiple<br/>controllers but still experience abrupt gait timing changes. This thesis introduces a<br/>novel RL-MPC hybrid control framework that addresses the controllers’ shortcomings<br/>in the current literature. The proposed controller incorporates a feature extractor module that extracts features from the robot terrain and state. The novel framework also<br/>introduces a gait timing correction step to smooth out gait transitions. The proposed<br/>framework was tested on a randomly generated rough terrain, where the robot efficiently traversed and transitioned between gaits while maintaining accurate command<br/>velocity. Testing the effectiveness of the contact timing correction step revealed that the<br/>locomotion produced by the controller without contact timing correction was jerky and<br/>unstable on rough terrain. The proposed framework also outperforms a state-of-the-art<br/>method in gait transitioning, resulting in smoother and more stable locomotion. |
| 650 ## - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | MS Robotics and Intelligent Machine Engineering |
| 700 ## - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Supervisor: Dr. Khawaja Fahad Iqbal |
| 856 ## - ELECTRONIC LOCATION AND ACCESS | |
| Uniform Resource Identifier | <a href="http://10.250.8.41:8080/xmlui/handle/123456789/48105">http://10.250.8.41:8080/xmlui/handle/123456789/48105</a> |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | |
| Koha item type | Thesis |
| Withdrawn status | Permanent Location | Current Location | Shelving location | Date acquired | Full call number | Barcode | Koha item type |
|---|---|---|---|---|---|---|---|
| School of Mechanical & Manufacturing Engineering (SMME) | School of Mechanical & Manufacturing Engineering (SMME) | E-Books | 12/24/2024 | 629.8 | SMME-TH-1100 | Thesis |