Gait Generation of a New Quadruped Walking Robot Using Embedded Control Systems

• Main Authors: jia-mu chen, 陳佳慕
• Other Authors: 陳俊達
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/49352839178260068990

碩士 === 大葉大學 === 機械與自動化工程學系 === 98 === In this paper a new quadruped robot is used to investigate the relation of the bio-mimetic behavior and walking pattern. The legs of the novel quadruped robot, distinct from traditional walking robots with jointed legs, are designed by rotational axles. Each leg are comprised of coxa, femur, tibia and toe, and actuated by two sets of gear trains. Thereafter, the kinematics will be investigated to verify the gravity center to be kept a level while walking. Moreover, a central pattern generator(CPG) is developed to generate the walking patterns for mimicking quadruped animals. The undetermined parameters of the CPG can be optimized by the learning automation modulation method such that the associated walking/running patterns is realized. Also, the bio-mimetic behavior is developed by the cooperative method to generate the associated walking patterns so that the relations of the CPG-based behavior and locomotion patterns are constructed. Finally, an embedded control system is used to implement the locomotion control, and verify our developed model for the CPG-based bio-mimetic behavior and locomotion patterns.