Gait Pattern Controller with Adjustable Velocity and Turning Radius for Hexapod Robot
碩士 === 逢甲大學 === 自動控制工程所 === 100 === The main purpose of this thesis is to design and implement a controller for hexapod robot by imitating walking characteristics of insects, making the hexapod being able to walk in a manner similar to insect’s behavior which is fully autonomous. Firstly, the contro...
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| Format: | Others |
| Language: | zh-TW |
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2012
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| Online Access: | http://ndltd.ncl.edu.tw/handle/48745978881250498540 |
| Summary: | 碩士 === 逢甲大學 === 自動控制工程所 === 100 === The main purpose of this thesis is to design and implement a controller for hexapod robot by imitating walking characteristics of insects, making the hexapod being able to walk in a manner similar to insect’s behavior which is fully autonomous. Firstly, the controller was parameterized so that the hexapod was able to walk in any prescribed velocity and gait pattern. Secondly, the controller was implemented by using a multiprocessor microcontroller Propeller. In addition, A GUI (Graphical User Interface) was developed together with wireless transmission between microcontroller and PC for the purpose of real-time controlling and monitoring the hexapod robot. The test experiment was carried out by using the HexCrawler hexapod robot. It succeeded to achieve change the transformation of HexCrawler in walking velocity as well as the walking pattern in real time.
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