Motion Control and Manipulability Analysis of LIMBERO-GRIEEL: a Multimodal Limbed Robot for Unstructured Environments

Completed - 2025 | C++ - python - MATLAB - ROS 2 - Gazebo Simulation - Limbed-robot - Modeling - Manipulability

Improvement of the research done at the SRL (Tohoku University, JP). This project is a direct continuation of the work on the 4-Limbed exploration robot. The combination of the two projects become my Master’s Thesis.

Summary:

• Researched performance indices to characterize the maneuverability efficiency of limbed robots, defining a novel theory on dexterity.
• Defined kinematic/dynamic leg description in Denavit‐Hartemberg convention, based on mechanics theory and homogeneous transformations, using MATLAB robotics‐toolbox.
• Developed softwarefor closed‐loop control of motors, and visualized novel ”base manipulability ellipsoid”, using MATLAB and Simulink.
• Proved the reliability of performance criteria, with nature‐inspired comparison using insect kinematics.

Short List of Results:

• Derived a dynamic model of the robot in MATLAB.
• Improved joint controllers’ performance with model-based tuning.
• Redefined limb model with the Denavit-Hartenberg convention.
• MATLAB and Simulink analysis of joint controllers.
• Developed new performance indices, to validate legged robot maneuverability.
• Used novel indices to improve previously defined motion algorithms.
• Enhanced simulation, and migrated to new Gazebo sim.
• Tested driving motion with wheels and walking motion with grippers.
• Analyzed possible hardware improvements.

Master’s Thesis Defense Presentation

Master’s Thesis Executive Summary