| Summary: | 碩士 === 逢甲大學 === 資訊電機工程碩士在職專班 === 97 === This thesis emphasizes on the development of a biped robot equipped with ultrasonic sensors and a digital compass. This biped robot set can operate independently, through a controlling system, and is able to keep itself away from any obstacles. Composed of the selected KONDO KHR-1 set, this biped robot, with 17 joints, is 35.3cm tall and 18.9cm wide. Ultrasonic sensors are installed all around this biped robot, with a digital compass installed on its head. The controlling system, with the control program written under Keil C, uses single chip W77E516 produced by Winbond Electronic Corporation.
The walking mode of this biped robot is motionless walking mode. The principle of this obstacle-avoiding system is as follows: The digital compass inspects and informs the present marching direction, while the ultrasonic sensors detect any obstacles ahead this marching direction. When any obstacle is detected, this obstacle-avoiding system will memorize the present marching direction and will lead the robot to circle the obstacles, and then back to the original marching direction, guided through the digital compass. Experiments show that the biped robot can certainly detect obstacles in unknown environments and can circle around obstacles and then back to the correct direction, finally complete its job through the guidance of the digital compass.
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