Skip to Main Content
 

Global Search Box

 
 
 

ETD Abstract Container

Abstract Header

Obstacle Avoidance Path Planning for Worm-like Robot

Liu, Zehao
http://rave.ohiolink.edu/etdc/view?acc_num=case1619457610715525

Abstract Details

2021, Master of Sciences, Case Western Reserve University, EMC - Mechanical Engineering.
Earthworm-like robots use peristaltic waves to locomote. While previous peristaltic turning used elliptical arcs, here Bezier curves enable optimization of paths while matching initial and final configurations. For the common case of a robot approaching a barrier with a passage that is offset from the original path, we show if the distance to the obstacle is less than 5 times the robot diameter, the forward reachable path offset is limited by the turning of the worm robot. We show the limit boundary and how to search backward motions if needed. Furthermore, we show how increasing number of segments affects turning; the difference between the path of the robot’s anterior and posterior are increased. Finally, when verified on a physical worm-like robot, the total motion was 85% of simulation (due to slip), but the path shape is similar and ratio of offset to clearance distance was within 7% of predictions.
Kathryn Daltorio (Advisor)
Roger Quinn (Committee Member)
Hillel Chiel (Committee Member)
61 p.
Mechanical Engineering; Robotics; Robots
Path planning; Worm-like robot; Obstacle avoidance path planning; Bezier Curve; Matlab simulation

Recommended Citations

Citations

  • Liu, Z. (2021). Obstacle Avoidance Path Planning for Worm-like Robot [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1619457610715525

    APA Style (7th edition)

  • Liu, Zehao. Obstacle Avoidance Path Planning for Worm-like Robot. 2021. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1619457610715525.

    MLA Style (8th edition)

  • Liu, Zehao. "Obstacle Avoidance Path Planning for Worm-like Robot." Master's thesis, Case Western Reserve University, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1619457610715525

    Chicago Manual of Style (17th edition)

case1619457610715525
189
© 2021, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.