Development of a Quadruped Robot and Parameterized Stair-Climbing Behavior

Simple item page
dc.contributor.advisorGupta, Satyandra Ken_US
dc.contributor.authorBrewer, Thomasen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2012-02-17T07:11:58Z
dc.date.available2012-02-17T07:11:58Z
dc.date.issued2011en_US
dc.description.abstractStair-climbing is a difficult task for mobile robots to accomplish, particularly for legged robots. While quadruped robots have previously demonstrated the ability to climb stairs, none have so far been capable of climbing stairs of variable height while carrying all required sensors, controllers, and power sources on-board. The goal of this thesis was the development of a self-contained quadruped robot capable of detecting, classifying, and climbing stairs of any height within a specified range. The design process for this robot is described, including the development of the joint, leg, and body configuration, the design and selection of components, and both dynamic and finite element analyses performed to verify the design. A parameterized stair-climbing gait is then developed, which is adaptable to any stair height of known width and height. This behavior is then implemented on the previously discussed quadruped robot, which then demonstrates the capability to climb three different stair variations with no configuration change.en_US
dc.identifier.urihttp://hdl.handle.net/1903/12388
dc.subject.pqcontrolledRoboticsen_US
dc.subject.pqcontrolledMechanical engineeringen_US
dc.subject.pquncontrolledBehavioren_US
dc.subject.pquncontrolledKinecten_US
dc.subject.pquncontrolledQuadrupeden_US
dc.subject.pquncontrolledRoboten_US
dc.subject.pquncontrolledSelf-Containeden_US
dc.subject.pquncontrolledStair-Climbingen_US
dc.titleDevelopment of a Quadruped Robot and Parameterized Stair-Climbing Behavioren_US
dc.typeThesisen_US

Files

Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
Brewer_umd_0117N_12852.pdf
Size:
4.93 MB
Format:
Adobe Portable Document Format
Download

Collections

UMD Theses and Dissertations
Mechanical Engineering Theses and Dissertations