Publication Date
2025
Document Type
Dissertation/Thesis
First Advisor
Lin, Yueh-Jaw
Degree Name
M.S. (Master of Science)
Legacy Department
Department of Mechanical Engineering
Abstract
Legged robots are well-suited for navigating uneven and unmapped terrain, making them valuable in various robotics applications. Maintaining balance and stability in such environments relies on a combination of sensors, control strategies, and mechanical design. However, selecting the most effective sensing and control method for a given use case remains challenging. Previous studies have explored various approaches, integrating combinations of joint angle measurement, inertial measurement units (IMUs), torque-based control, leg force measurement, image processing, and machine learning, paired with numerous controller designs, which can contribute to stability. However, direct comparisons of these methods are often limited by the need for physical prototyping and testing, and differences in the mechanical design of robotic platforms, in published works, have influences on results that hinder comparability. This study investigates a cost-effective and modular quadruped platform designed to integrate multiple sensing methods for stability assessment. The research includes a validation of the prototype robotic platform by use of a realistic computational load from a control algorithm based on established methods, with further validation work done to ensure design efficacy. The findings aim to provide a foundation for future studies using the prototype developed in this work for comparing control strategies and sensor combinations, with the end goal of offering better insights into their relative performance in maintaining legged robot stability. Ultimately, the prototype quadruped produced is not yet viable for full testing methods, but revisions are proposed such that in future open-source access to the designs for replication can be provided.
Recommended Citation
Larsen, Michael Conner, "Development and Prototyping of a Modular Quadruped Towards Testing Standardization for Legged Robot Stability" (2025). Graduate Research Theses & Dissertations. 8123.
https://huskiecommons.lib.niu.edu/allgraduate-thesesdissertations/8123
Extent
91 pages
Language
en
Publisher
Northern Illinois University
Rights Statement
In Copyright
Rights Statement 2
NIU theses are protected by copyright. They may be viewed from Huskie Commons for any purpose, but reproduction or distribution in any format is prohibited without the written permission of the authors.
Media Type
Text
