A method to design foot trajectory in Cartesian
coordinates for a six-leg walking machine is presented in
this thesis. The walking machine is based on the geometry of
the darkling beetle.
The walking procedure developed by Y.S. Baek is
introduced first to provide step length and leg swing time
for foot trajectory planning. This procedure also supplies
required parameters to describe the relationship between
feet and body during locomotion.
The trajectory of a single foot consists of the path
and its temporal attributes, that is, velocity and
acceleration. Several methods and constraints for path and
velocity profile design are discussed. Software developed in
Microsoft Quick C is used to generate and animate on the
screen a single desired foot trajectory applied to each of
the six legs by combining paths and velocity profiles. The
generated trajectory is converted to joint coordinates to
provide necessary data for leg control. Since a single foot
trajectory is applied to three pairs of legs of different
design, three sets of joint coordinate sequences are
produced. Furthermore, each leg consists of three segments
and three joints necessitating nine control sequences
altogether.
Half-ellipse and trochoidal paths are interpolated with
5th and 6th order polynomials to determine minimum required
joint acceleration. All paths and their first and second
derivatives are required to be smooth. The effect of body
pitch are also examined. / Graduation date: 1995
| Identifer | oai:union.ndltd.org:ORGSU/oai:ir.library.oregonstate.edu:1957/35194 |
| Date | 07 July 1994 |
| Creators | Su, I-chih |
| Contributors | Fichter, Eugene F. |
| Source Sets | Oregon State University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis/Dissertation |
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