Study on Hexapod’s Stable Gaits Based on Gray Theory
Date Issued
2004
Date
2004
Author(s)
Lee, Po-Wei
DOI
zh-TW
Abstract
This thesis proposes a control scheme, which is based on gray relation and gray prediction, for controlling a hexapod when it treads. The hexapods’ gaits are predicted by gray prediction and the stability status of hexapod is estimated by gray relation. It can be determined if hexapods are stable on next step by the comparison between the two states. One is predicted by the gray prediction and another is the stability which this thesis proposes. There are methods to control the stability of hexapods in retrospection which is from complicated mathematical mode. In this thesis, a method of controlling hexapod’s stable is proposed by using a simple mathematical model of gray theory including gray prediction and gray relation instead of a difficult mathematical mode.
In this thesis, the strategy of hexapod’s gaits is wave gaits which are the most efficient but less stable. However, by simulating the proposed control method which is proposed in the thesis, the strategy of wave gaits can present good stability. According to Denavit-Hartenberg Representation of Forward Kinematic Equations, the simulating data is acquired. This thesis uses the practical operation on an experimental platform to proof the theory which the thesis proposes.
Subjects
灰預測
灰關聯度
六足機械
波浪步伐
gray prediction
gray relation
wave gaits
hexapods
Type
thesis
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