This thesis sets up terrain parameters and locomotion strategies of a hexapod robot walking on variable and discontinuous terrain. Walking on this kind of terrain is the greatest advantage of legged robots compared with wheeled robots. First, establish a randomly distributed parameterized terrain. Second, set up morphological parameters and dimension parameters of the robot. Third, build kinematic model and generate continuous gaits of the robot, including crab gaits and turning gaits. The locomotion strategy can determine every AEP ,PEP and stride depending on terrain. Finally, verify the strategy through computer programming and find shorter path by calculating if foothold is available in advance. Because of applying randomly distributed parameterized terrain, in addition to describing the terrain more comprehensively, the terrain parameters can be adjusted easily according to different needs. This research will bring about more applications and developments of legged robots.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0901111-165344 |
| Date | 01 September 2011 |
| Creators | Wei, Kuang-Ting |
| Contributors | Tsai,Ying-Chien, Her, Innchyn, Cheng, Chi-Cheng |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | Cholon |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0901111-165344 |
| Rights | user_define, Copyright information available at source archive |
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