The Gait and Locomotion Control for Quadruped Robot
| Autor: | Cheng-Chia Wu, 吳正家 |
|---|---|
| Rok vydání: | 2010 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 98 The development of robot can divided several categories, wheeled, Biped, quadruped and multi-Limbed robot. In entertainment robot, the quadruped robot can be designed as cats or dogs close to people's live, so we will design robot type for quadruped. Most of quadruped robot research, the topic is single gait design, dynamic analysis, obstacle avoidance, and to make more vivid the robot's movements by sensors with artificial intelligence. In the action research, only concentrates in the slow gait. So in this paper which will aim at quadruped robot's gait to do research, will take on quadruped's gait application in this paper will design on robot. In gait planning, at first, all gaits will designed on the computer. Then these gaits of the angle obtained by the inverse kinematic, and turn angle into servo control signals. Finally, the control signals save as text file in SD card, and then read gait command from SD card after ARM system get joystick data. In the gait of design, besides the most commonly used walk, also joined the center, and trot. In this paper, design a high-speed walking of the quadruped robot using the parallel mechanism, high-torque servo motor, energy storage spring and embedded systems. And proposes several analysis techniques for quadruped robot, inculde inverse kinematics, static stability analysis, spring model and a variety of gait analysis. Finally apply quadrped animal's gait to robot's walk, achieves high-speed walking (Trot) quadruped robot. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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