Sensor Fusion in a Six-legged Bio-mimicking Robot
Date Issued
2007
Date
2007
Author(s)
Chen, Yi-Ting
DOI
zh-TW
Abstract
This thesis presents the design and building of a six-legged bio-mimicking robot. The design goal is to establish an economic design for possible mass production, and to endow the robot with communication ability so that the robots can work together to achieve a common objective. The robot is to have the ability to independently perform pre-assigned tasks and to make decisions when situation requires task changing. This thesis composes the mechanical design and the system development of the robot. The mechanical design includes the actuation and the locomotive mechanism design. The mechanical arrangement of the legs also determines the stroke of the robot gaits. The control system, on the other hand, implements the various gaits for the robot to maneuver. The sensors used in the control system include the accelerometer, the compass sensor and the step touch sensors. We develop a fusion formula to take advantage of the signal from the various sensors to achieve an accurate robot position measurement. This information is useful for future distributed information network composed by the robotic team.
Subjects
六足機器人
形狀記憶合金
嵌入式控制系統
感測器資料融合
embedded control system
sensor fusion
shape memory alloy actuator (SMA)
six-legged bio-mimicking robot
Type
thesis
File(s)![Thumbnail Image]()
Loading...
Name
ntu-96-R94522806-1.pdf
Size
23.53 KB
Format
Adobe PDF
Checksum
(MD5):c0e692a995af1713e817516fb2dbc6e4