LRF assissted mapping and obstacle avoidance for hexapod robot Comet

Researches on obstacle avoidance based on environment map of unknown environment are not widely applied for walking robots, especially for large scale robots withhydraulically-driven actuators. In contrast, the walking robots are mainly applied to perform specific tasks in a predefined environment....

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Main Author:	Mohd Razali, Daud
Format:	Thesis
Language:	English
Published:	2012
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://umpir.ump.edu.my/id/eprint/3575/1/MOHD_RAZALI_BIN_DAUD.PDF
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id	my-ump-ir.3575
record_format	uketd_dc
spelling	my-ump-ir.35752017-08-16T04:38:01Z LRF assissted mapping and obstacle avoidance for hexapod robot Comet 2012-04 Mohd Razali, Daud TJ Mechanical engineering and machinery Researches on obstacle avoidance based on environment map of unknown environment are not widely applied for walking robots, especially for large scale robots withhydraulically-driven actuators. In contrast, the walking robots are mainly applied to perform specific tasks in a predefined environment. This research aims to improve the capabilities and increase autonomy of the hydraulically-driven hexapod robot COMET-TV by improving mapping technique for unknown environment, obstacles avoidances and leg motion control assistance using a laser range finder (LRF) 3-D point clouds data. The COMET-IV can be controlled from a remote place by an operator, but the operator has to know the surrounding area of the robot and its current conditions to determine the next walking command while steering a robot from a remote place. Therefore, a map of unknown environment is needed, and it is developed using the Occupancy Grid Map (0GM), but the cells are categorized into not only two categories as current existed achievement but multiple categories. On the other hand, for autonomous operation (the scope of this research), the information associated with the map is used as a reference to generate a walking path for robot. Moreover, in order to capitalize the capabilities of the robot, the Grid-based Walking Trajectory for Legged Robot (GWTLR) method is proposed to avoid, walk over and cross over an obstacle, including ascend and descend a cliff with support of proposed Grid-cell Edge Detection method to analyze the obstacle geometrics concerning the map of an unknown environment. The GWTLR method determines the height of the COMET-TV body, leg swing height and leg stride length, and where the robot should stop before its legs are moved to enable the tasks to be performed without collision with the obstacles. in addition, a proposed Grid-based Walking Assistant for Legged Robot (GWALR) method cascaded to the force control and impedance control as a dynamic input reference to increase the robustness for robot walking on unstructured terrain.Experiment results of the proposed methods show that the trajectory planning can be done autonomously under the unknown environment, and it is also demonstrated to be effective to provide the surrounding environment map to the remote operator. Therefore, the proposed methods were proven to be highly potential to be applied for as a part of the overall system for actual stochastic terrain navigation. 2012-04 Thesis http://umpir.ump.edu.my/id/eprint/3575/ http://umpir.ump.edu.my/id/eprint/3575/1/MOHD_RAZALI_BIN_DAUD.PDF application/pdf en public phd doctoral Chiba University Artificial Science (Robotics System Control)
institution	Universiti Malaysia Pahang Al-Sultan Abdullah
collection	UMPSA Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Mohd Razali, Daud LRF assissted mapping and obstacle avoidance for hexapod robot Comet
description	Researches on obstacle avoidance based on environment map of unknown environment are not widely applied for walking robots, especially for large scale robots withhydraulically-driven actuators. In contrast, the walking robots are mainly applied to perform specific tasks in a predefined environment. This research aims to improve the capabilities and increase autonomy of the hydraulically-driven hexapod robot COMET-TV by improving mapping technique for unknown environment, obstacles avoidances and leg motion control assistance using a laser range finder (LRF) 3-D point clouds data. The COMET-IV can be controlled from a remote place by an operator, but the operator has to know the surrounding area of the robot and its current conditions to determine the next walking command while steering a robot from a remote place. Therefore, a map of unknown environment is needed, and it is developed using the Occupancy Grid Map (0GM), but the cells are categorized into not only two categories as current existed achievement but multiple categories. On the other hand, for autonomous operation (the scope of this research), the information associated with the map is used as a reference to generate a walking path for robot. Moreover, in order to capitalize the capabilities of the robot, the Grid-based Walking Trajectory for Legged Robot (GWTLR) method is proposed to avoid, walk over and cross over an obstacle, including ascend and descend a cliff with support of proposed Grid-cell Edge Detection method to analyze the obstacle geometrics concerning the map of an unknown environment. The GWTLR method determines the height of the COMET-TV body, leg swing height and leg stride length, and where the robot should stop before its legs are moved to enable the tasks to be performed without collision with the obstacles. in addition, a proposed Grid-based Walking Assistant for Legged Robot (GWALR) method cascaded to the force control and impedance control as a dynamic input reference to increase the robustness for robot walking on unstructured terrain.Experiment results of the proposed methods show that the trajectory planning can be done autonomously under the unknown environment, and it is also demonstrated to be effective to provide the surrounding environment map to the remote operator. Therefore, the proposed methods were proven to be highly potential to be applied for as a part of the overall system for actual stochastic terrain navigation.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Mohd Razali, Daud
author_facet	Mohd Razali, Daud
author_sort	Mohd Razali, Daud
title	LRF assissted mapping and obstacle avoidance for hexapod robot Comet
title_short	LRF assissted mapping and obstacle avoidance for hexapod robot Comet
title_full	LRF assissted mapping and obstacle avoidance for hexapod robot Comet
title_fullStr	LRF assissted mapping and obstacle avoidance for hexapod robot Comet
title_full_unstemmed	LRF assissted mapping and obstacle avoidance for hexapod robot Comet
title_sort	lrf assissted mapping and obstacle avoidance for hexapod robot comet
granting_institution	Chiba University
granting_department	Artificial Science (Robotics System Control)
publishDate	2012
url	http://umpir.ump.edu.my/id/eprint/3575/1/MOHD_RAZALI_BIN_DAUD.PDF
_version_	1783731901637328896

LRF assissted mapping and obstacle avoidance for hexapod robot Comet

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