Sensor Feedback Control for a Bio-mimetic Snake-like Robot
Date Issued
2009
Date
2009
Author(s)
Chen, Sz-Lung
Abstract
In this thesis, which is based on the understanding of snake motion especially inerpenoid motion and the design of the snake-like robot, the defects in previousechanism designs are eliminated and an external Bluetooth wireless moduleommunication system is added, which allows the robot to change gait parametersnline. In a series of strain gauge experiments, there is nothing that matches the results inhe original thoughts of using this kind of sensor to determine the robot’s direction. Thenly understanding is the relation between surface roughness and the value of the strainauge. Further experiments carried out using different kinds of motion and posturesade the previous results more reasonable. A gait control using results from differentinds of turning motion is established and strain gauge values obtained can be used toompensate mechanism defects during straight line motion. Further, from the idea ofadars, a photo resistor is attached on the first motor of the robot and keeps scanning theuminance of the environment, so that the robot can eventually track and reach the lightource with the same turning motion. To improve the disadvantages of this kind of turning motion and to solve the deadpace problem caused by using only one photo resistor, a brand new way of turningnspired by a game in Nokia cell phone is established; through a mathematicalepresentation, experiments are carried out and the radius of turn is successfully reducedompared to using traditional serpenoid motion, and this motion allows all the moduleso perform a turn on a fixed point. In this way, with the help of more photo resistors or aebcam, the tracking or motion planning of the robot can be realized.
Subjects
snake robot
turning motion
sensors
Type
thesis
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