This thesis presents a method for determining range
of body motion for a walking machine with feet fixed on
the ground. The darkling beetle was selected as the
sample subject in this study.
A closed form inverse kinematic solution is used to
determine if a point in space is within range of body
motion. An algorithm for tracing workspace boundary is
also presented.
The software, developed in Microsoft QuickC, has
three main parts: (1) a module for searching the
workspace contours and recording the contour points, (2)
a plotting program for presentation of the workspace on
the screen, (3) a module to determine ranges of roll,
pitch and yaw for specified foot positions. The plotting
program shows four views of the workspace, including
front, top, and side views, and user specified axonometric
projection.
Body range of motion for a representative set of foot
positions is presented and analyzed. Results are
presented for normal resting height (10mm) and for 8mm and
12mm heights. Body range of motion for feet positioned
for the alternating tripod gait is also presented. Ranges
of roll, pitch and yaw have been determined and are
discussed. / Graduation date: 1991
| Identifer | oai:union.ndltd.org:ORGSU/oai:ir.library.oregonstate.edu:1957/38136 |
| Date | 11 March 1991 |
| Creators | Foo, Chee Kit |
| Contributors | Fichter, Eugene F. |
| Source Sets | Oregon State University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis/Dissertation |
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