Design and Control of Quadruped Robot Using Integrated Analog and Digital Circuits
Date Issued
2004
Date
2004
Author(s)
Tseng, Kuo- Shih
DOI
zh-TW
Abstract
The aim of this study was to develop a quadruped robot focusing on the steady control structure of the trunk. The approach is to combine merits of analog and digital logic circuits. The analog circuits were used for the gait control and digital circuits were used for the balancing control of the trunk.
A quadruped robot was developed, named NTU-SIMONE. The balance of the trunk can be maintained when one leg raised up to 17cm in vertical direction.
Subjects
四足機器人
類比電路
強健控制
系統識別
步態
quadruped robot
Analog circuits
robust control
gait
system identification
Type
thesis
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