A Bio-mimetic Snake-like Robot: Sensor Based Gait Control

• Main Authors: Tito Lu Tang Chen, 陸嘉德
• Other Authors: Jia-Yush Yen
• Format: Others
• Language: en_US
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/93485673776159968028

碩士 === 國立臺灣大學 === 機械工程學研究所 === 96 === The following thesis presents and makes a study of the snake motion. Snakes are very special creatures. They differ from other animals in such a way that they don’t use legs to move forward and their motion is very peculiar, creating great interest in many scientists in creating robots like them. The dynamics of snake motion, called “serpenoid motion”, are to be studied and discussed. Curvature is used to control each of the servo motors on the snake in order to achieve the serpenoid motion of the robot. The robot is controlled with a microcontroller, PIC18F4580, in order to accomplish such motion. The usage of CAN BUS interface is developed between the controllers to achieve communication between all modules. The implementation of CAN BUS is presented and discussed. A system of sensors is applied in order to understand the current position and condition in which our robot is and using the given data, a method is developed so that the robot can know its current condition and create a data collection system.