Development of Embedded System Technology for A Six-legged Bio-mimicking Robot
Date Issued
2006
Date
2006
Author(s)
Yang, Chen-Chia
DOI
zh-TW
Abstract
This thesis addresses the design issues involved in the design of a six-legged bio-mimicking robot. The robot is designed to be autonomous with wireless communication capability for down linking simple instructions. The core of the embedded system is based upon an ARM9 processor. The robot has six shape memory alloy (SMA) actuated legs. The different gaits for the robot movements are stored in the system memory so that the robot can fulfill different motion commends. This thesis discusses the structure design and the motion planning of the system. The robot kinematics design enables the robot of move forward and turn upon command requirements. The system is also equipped with A/D and digital interface for various sensors.The actual implementations are presented.
Subjects
嵌入式控制系統
感測器
形狀記憶合金長度控制
embedded control system
Sensors
SMA length control
Type
thesis
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