Six -Legs Walking Robot
The six-legs walking robot can walk on 6 legs. This robot uses the infrared sensor to explore the environment and avoid from obstacles. It has the ability to turn and reverse, walk on rough ground and avoid obstacles. All the robot's functions are controlled by a Microchip PIC 16F84A micro c...
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| Main Author: | |
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| Format: | Monograph |
| Published: |
UTeM
2008
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| Online Access: | http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000043354 http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=fullDisplayRetriever.jsp&szMaterialNo=0000043354 http://eprints.utem.edu.my/3752/1/Six-Legs_Walking_Robot_-__TJ211.415_.L55_2008..pdf http://eprints.utem.edu.my/3752/2/Six-Legs_Walking_Robot_-__TJ211.415_.L55_2008..pdf |
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| Summary: | The six-legs walking robot can walk on 6 legs. This robot uses the infrared
sensor to explore the environment and avoid from obstacles. It has the ability to turn and
reverse, walk on rough ground and avoid obstacles. All the robot's functions are
controlled by a Microchip PIC 16F84A micro controller. The objective of this project is
to solve the instability problem using tripod gait as control algorithm. Besides, infrared
sensor is also used to overcome the obstacles problem. Insectronic in history face the
problem of stability in walking movement. When a walking robot traverses ground that
not smooth, several control problems may arise from it. The problems include
navigation where the robot must choose a route that will get it to a specified location.
The second problem is with path selection that the robot must choose the detail of route
to minimize the problem of slope roughness and obstacles avoidance if a specified
location is given. The third problem is with terrain adaptation and obstacle crossing.
With the completion of this project, the robot equips by the three servos and a main
controller board has the ability to walk forward and backward, walk on rough ground
and reacts to its environment. The robot will also possess obstacles-avoidance
capabilities to the front and on both sides of its head that necessary for survival by an
infrared sensor board. |
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