Development of a Hexapod Robot with Java-Based Remote Control
| Autor: | Chi-Fu Cheng, 鄭吉甫 |
|---|---|
| Rok vydání: | 2008 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 96 In contrast to the car-like mobile robot, walking robot can always pass through difficult terrain and present highly adaptable. In this paper, we design a hexapod robot according to insect structure and analyze its static gait. This robot contains a total of 12 degrees of freedom (DOF). Each leg has two DOFs: one is a horizontal joint and the other is a vertical joint. The contour of our hexapod robot is a circular form and six legs are lumped into the body with six points equally. It is different from a normal hexapod robot with three legs on the left-hand side and the other three on the right-hand side. Therefore, we could devise two functional gaits for the hexapod robot: the tripod and wave gaits, which are tested successfully by the hexapod robot. In this thesis, a platform independent and cost-free programming language, Java, is adopted to develop a human-machine-interface of a robot control system integrated with various kinds of subsystem. These subsystems include the motion control, CCD image, Bluetooth communication and remote control. We developed a behavior control system by Java in order to let user control the robot through the Internet. So any user who has access to Internet can use internet browser to control the system remotely. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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