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Foot placement planning for a hexapod robot moving over uneven terrain
Thesis (MA)--Stellenbosch University, 2024.
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Stellenbosch : Stellenbosch University
2025
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| _version_ | 1867613811388710912 |
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| access_status_str | Open Access |
| author | Lotriet, Andries Phillipus |
| author2 | Engelbrecht, J. A. A. |
| author_browse | Engelbrecht, J. A. A. Lotriet, Andries Phillipus |
| author_facet | Engelbrecht, J. A. A. Lotriet, Andries Phillipus |
| author_sort | Lotriet, Andries Phillipus |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description |
Thesis (MA)--Stellenbosch University, 2024. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/131806 |
| institution | Stellenbosch University (South Africa) |
| last_indexed | 2026-06-10T12:42:04.592Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2025 |
| publishDateRange | 2025 |
| publishDateSort | 2025 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/131806 Foot placement planning for a hexapod robot moving over uneven terrain Lotriet, Andries Phillipus Engelbrecht, J. A. A. Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Autonomous robots Geographic information systems Robots -- Control systems Simulation methods UCTD Thesis (MA)--Stellenbosch University, 2024. ENGLISH ABSTRACT: In recent times great strides have been made in the field of autonomous robotics, especially with regards to autonomous navigation of wheeled and aerial drones. Legged robotics however still face numerous problems before they can become practical to use, the most egregious of these problems being balancing of the robot, and optimal foot placement. This thesis focuses on providing a solution to the latter problem of foot placement. This is achieved by using a depth camera to, in real time, construct a localised map of the environment, and subsequently analysing said map for optimal foot placement locations, thus constructing a "walkability map". The walkability map is used to select optimal foot placement locations for each leg during each step, and the heightmap to select the accompanying foot heights. The resultant system allows the robot to traverse uneven terrain while maintaining a level body. The system is then tested using a hexapod robot, both in simulation and on a physical robot. AFRIKAANSE OPSOMMING: In onlangse tye is groot vordering gemaak in die gebied van outonome robotika, veral met betrekking tot outonome navigasie van hommeltuie. Bebeenderobotika het egter steeds probleme om op te los voordat dit prakties gebruik kan word, die mees ernstige van hierdie probleme is balansering van die robot, en optimale voetplasing. Hierdie tesis fokus daarop om ’n oplossing vir die laasgenoemde problem van voetplasing voor te stel. Dit word bereik deur ’n dieptekamera te gebruik om ’n gelokaliseerde kaart van die omgewing te konstrueer, en daarna die kaart te ontleed vir optimale voetplasings areas, dus word ’n "loopbaarheidskaart" gekonstrueer. Die loopbaarheidskaart word gebruik om optimale voetplasings vir elke been tydens elke stap te kies, en die hoogtekaart word gebruid om die gepaardgaande voethoogtes te kies. Die gevolglike stelsel laat die robot toe om ongelyke terrein te deurkruis terwyl hy ’n waterpas liggaam behou. Die stelsel word dan getoets met behulp van ’n seskantige-robot, beide in simulasie en op ’n fisiese robot. Masters 2025-03-27T12:47:09Z 2025-03-27T12:47:09Z 2024-12 Thesis https://scholar.sun.ac.za/handle/10019.1/131806 Stellenbosch University xiv, 85 pages : illustrations application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Autonomous robots Geographic information systems Robots -- Control systems Simulation methods UCTD Lotriet, Andries Phillipus Foot placement planning for a hexapod robot moving over uneven terrain |
| title | Foot placement planning for a hexapod robot moving over uneven terrain |
| title_full | Foot placement planning for a hexapod robot moving over uneven terrain |
| title_fullStr | Foot placement planning for a hexapod robot moving over uneven terrain |
| title_full_unstemmed | Foot placement planning for a hexapod robot moving over uneven terrain |
| title_short | Foot placement planning for a hexapod robot moving over uneven terrain |
| title_sort | foot placement planning for a hexapod robot moving over uneven terrain |
| topic | Autonomous robots Geographic information systems Robots -- Control systems Simulation methods UCTD |
| url | https://scholar.sun.ac.za/handle/10019.1/131806 |
| work_keys_str_mv | AT lotrietandriesphillipus footplacementplanningforahexapodrobotmovingoveruneventerrain |