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Implementation of a Variable Duty Factor Controller on a Six-Legged Axi-Symmetric Walking Robot

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.

Identiferoai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:OWTU.10012/2887
Date January 2006
CreatorsCutler, Steven
PublisherUniversity of Waterloo
Source SetsLibrary and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada
LanguageEnglish
Detected LanguageEnglish
TypeThesis or Dissertation
Formatapplication/pdf, 14377618 bytes, application/pdf
RightsCopyright: 2006, Cutler, Steven. All rights reserved.

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