Hexplorer is a six-legged walking robot developed at the University of Waterloo. The robot is controlled by a network of seven digital signal processors, six of which control three motors each, for a total of 18 motors. Brand new custom electronics were designed to house the digital signal processors and associated circuitry. A variable duty factor wave gait, developed by Yoneda et al. was simulated and implemented on the robot. Simulation required an in-depth kinematic analysis that was complicated by the mechanical design of parallel mechanism comprising the legs. These complications were handled in both simulation and implementation. However, due to mechanical issues Hexplorer walked for only one or two steps at a time.
| Identifer | oai:union.ndltd.org:WATERLOO/oai:uwspace.uwaterloo.ca:10012/2887 |
| Date | January 2006 |
| Creators | Cutler, Steven |
| Publisher | University of Waterloo |
| Source Sets | University of Waterloo Electronic Theses Repository |
| Language | English |
| Detected Language | English |
| Type | Thesis or Dissertation |
| Format | application/pdf, 14377618 bytes, application/pdf |
| Rights | Copyright: 2006, Cutler, Steven. All rights reserved. |
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