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trajectory-generation
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Optimal stair climbing pattern generation for humanoids using virtual slope and distributed mass model
, Article Journal of Intelligent and Robotic Systems: Theory and Applications ; Volume 94, Issue 1 , 2019 , Pages 43-59 ; 09210296 (ISSN) ; Yousefi Koma, A ; Khadiv, M ; Mansouri, S ; Mohtasebi, S. S ; Sharif University of Technology
Springer Netherlands
2019
Abstract
This study addresses optimal walking pattern generation for SURENA III humanoid robot in a stair-climbing scenario. To this end, the kinematic configuration of the 31-DOF humanoid robot is studied. Integrating the detailed dynamic properties of the robot, a comprehensive and precise dynamic model is developed for its lower-limb. In order to generate the optimal walking pattern for the considered humanoid robot, trajectories for feet and pelvis are first designed, and then joint angles are derived by means of inverse kinematics. Such a complete model provides the designer with the necessary tools to optimize the trajectory generation. Using two different types of objective functions, namely...
Trajectory Planning of a Spider Robot Considering Obstacle Avoidance
, M.Sc. Thesis Sharif University of Technology ; Ghaemi Osgouie, Kambiz (Supervisor) ; Khayyat, Amir Ali Akbar (Supervisor)
Abstract
Legged walking and climbing robots have recently achieved important results and developments, but they still need further improvements and study. The spider modeled as an eight-legged system. Legged robots have a body and a number of articulated legs which originate from the body and are put on the ground to hold robot’s weight or are swinging in the air to their new position. Each leg as a kinematic chain can be viewed as a manipulator that acts like a limb and contributes to the overall position and equilibrium of the structure. In order to evaluate and create an effective legged robot, the idea is to draw inspiration from nature. Spider robots present very good performances in terms of...
Solving Toll Pricing Problem in Real Transportation Networks
, M.Sc. Thesis Sharif University of Technology ; Zokaee Aashtiani, Hedayat (Supervisor)
Abstract
Toll Pricing as a means to relieve traffic congestion has received significant attention by transportation planners recently. Inappropriate use of transportation networks is one of the major reasons that cause congestion in networks. Toll Pricing is a method of traffic management which guides the traffic flow to proper time and path in order to reduce the total delay in networks. This thesis investigates a method for solving Minimum Toll Revenue problem in real and large scale transportation networks. The objective of this problem is to find tolls that simultaneously cause users to use the transportation network effectively and minimize the total toll revenues that must be collected....
Dynamic Trajectory Generation and Obstacle Avoidance for a Reconfigurable Spherical Robot
, M.Sc. Thesis Sharif University of Technology ; Ghaemi Osgouie, Kambiz (Supervisor) ; Salarieh, Hassan (Supervisor)
Abstract
Recent studies show that spherical shape robots have been widely developed by many robotic researchers. A spherical shape can be also benefited in keeping mechanical components and electronic circuits inside a compact volume. The shell can also perform rolling motions for going fast and smooth on flat area. The reconfigurable spherical robot can be configured into a form of two interconnected hemispheres with three legs equipped with three Omni-directional wheels. The conceptual design of the robot will be initially packed and deployed in a spherical configuration. The spherical construction offers ease in transportation and deployment; for example, a number of these robots can be packed and...
Learning-based Control System Design for the Bipedal Running Robot and Development of a Two-layer Framework for Generating the Optimal Paths in Various Movement Maneuvers
, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor)
Abstract
Foot movement is one of the most powerful and adaptable methods of movement in nature. Inspired by humans, the most intelligent creatures on earth, bipedal robots have many uses. In this research, a control method for running a bipedal robot has been designed. In the simulation part of the five-link model, the robot's motion equations for running and walking at different levels are extracted by the Lagrange method. In path generation, using the two-layer optimization method and holonomic and dynamic constraints, optimal paths are produced which are kinematically and dynamically possible (feasible). Additionally, path generation is facilitated by an invariant impact constraint to ensure the...
An integrated virtual environment for feasibility studies and implementation of aerial MonoSLAM
, Article Virtual Reality ; Volume 16, Issue 3 , September , 2012 , Pages 215-232 ; 13594338 (ISSN) ; Malaek, S. M. B ; Sharif University of Technology
2012
Abstract
This work presents a complete framework of an integrated aerial virtual environment (IAVE), which could effectively help implementing MonoSLAM (single-camera simultaneous localization and mapping) on an aerial vehicle. The developed system allows investigating different flight conditions without using any preloaded maps or predefined features. A 3D graphical engine integrated with a full 6 DOF aircraft dynamic simulator together with its trajectory generator completes the package. The 3D engine generates and accumulates real-time images of a general camera installed on the aerial vehicle. We effectively exploit C++ to develop the 3D graphics engine (3DGE) and all its associated visual...
Decentralized polynomial trajectory generation for flight formation of quadrotors
, Article Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics ; Volume 231, Issue 4 , 2017 , Pages 690-707 ; 14644193 (ISSN) ; Soltani, A ; Sharif University of Technology
Abstract
This paper deals with the decentralized polynomial trajectory generation for the formation flight of a leader-follower network of quadrotors. The proposed decentralized trajectory planning method guarantees stability of the formation in missions with aggressive trajectories or low information exchange frequencies or data loss. Moreover, designed formation protocol ensures robustness of the formation against variations of the network communication topology. First, quadrotor translational dynamics is represented as a quadruple integrator by linearizing and differentiating its equations of translational motion. Then, a formation control law for a leader-follower network of the quadruple...
A neuro-optimal approach for thrust-insensitive trajectory planning
, Article Aircraft Engineering and Aerospace Technology ; Volume 81, Issue 3 , 2009 , Pages 212-220 ; 00022667 (ISSN) ; Pazooki, F ; Noushabadi, F ; Sharif University of Technology
2009
Abstract
Purpose - The purpose of this paper is to devise a new approach to synthesize closed-loop feedback guidance law for online thrust- insensitive optimal trajectory generation utilizing neural networks. Design/methodology/approach - The proposed methodology utilizes an open- loop variational formulation that initially determines optimal launch/ ascent trajectories for various scenarios of known uncertainties in the thrust profile of typical solid propellant engines. These open-loop optimized trajectories will then provide the knowledge base needed for the subsequent training of a neural network. The trained network could eventually produce thrust-insensitive closed-loop optimal guidance laws...