چكيده به لاتين
The special movement capabilities of legged robots, including movement in rough environments that cannot be navigated by wheeled robots, are among the main reasons for approaching such robots, therefore, the human tendency is toward modeling the behavior of animals to use the capabilities of these robots in different situations, especially in cases of rescue, where humans cannot access the location due to existing risks. In order to maintain balance and control stepping in these robots, it is necessary to develop various algorithms with the help of different sensors and actuators to control the position and torque produced in the foot. In this research, the goal is to build a prototype of a 3DoF robotic leg for the IUST-quadruped robot and to develop a simulator and controller to control the position and torque of this leg. Therefore, inspired by the existing quadruped robots, a prototype of this robotic leg, has been made, and simulators for this robot have been developed in the Gazebo using ROS and in Python, using the Matplotlib library. In order to control the position of the robot, the kinematic model of the robot is defined in the RBDL library, and kinematic calculations are performed to control the movement of the foot in an arbitrary path in real-time, both in the gazebo simulator and in the real robot. To control the torque and force on this leg, since the use of the spring-loaded inverted pendulum (SLIP) model as the main framework for control has been of increasing interest in many robotics projects, inspired by this model, it was tried to model the jump test with different heights in the robot and design a suitable controller to implement this behavior in the robot which help to understand the legged locomotion and torque control in such robots. Therefore, first, details were created in a simulator, and the desired tests for the controller were implemented, and then with minimal changes, they were also implemented on the real robot. The obtained results have shown an accurate match between the slip model and the robot, which exhibits the controller's accuracy and the correct performance of the simulator in modeling the robot in real space.
