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Implementation of a variable duty fa...

University of Waterloo (Canada).

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Implementation of a variable duty factor controller on a six-legged axi-symmetric walking robot.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Implementation of a variable duty factor controller on a six-legged axi-symmetric walking robot./
作者:	Cutler, Steven J.
面頁冊數:	143 p.
附註:	Source: Masters Abstracts International, Volume: 46-03, page: 1733.
Contained By:	Masters Abstracts International46-03.
標題:	Engineering, Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR34293
ISBN:	9780494342930

Implementation of a variable duty factor controller on a six-legged axi-symmetric walking robot.
Cutler, Steven J.

Implementation of a variable duty factor controller on a six-legged axi-symmetric walking robot. - 143 p.

Source: Masters Abstracts International, Volume: 46-03, page: 1733.

Thesis (M.A.Sc.)--University of Waterloo (Canada), 2007.

Hexplorer is a six-legged walking robot developed at the University of Waterloo. The robot is controlled by a network of seven digital signal processors, six of which control three motors each, for a total of 18 motors. Brand new custom electronics were designed to house the digital signal processors and associated circuitry. A variable duty factor wave gait, developed by Yoneda et al. was simulated and implemented on the robot. Simulation required an in-depth kinematic analysis that was complicated by the mechanical design of parallel mechanism comprising the legs. These complications were handled in both simulation and implementation. However, due to mechanical issues Hexplorer walked for only one or two steps at a time.

ISBN: 9780494342930Subjects--Topical Terms:

1018454
Engineering, Robotics.

Implementation of a variable duty factor controller on a six-legged axi-symmetric walking robot.
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520 $a Hexplorer is a six-legged walking robot developed at the University of Waterloo. The robot is controlled by a network of seven digital signal processors, six of which control three motors each, for a total of 18 motors. Brand new custom electronics were designed to house the digital signal processors and associated circuitry. A variable duty factor wave gait, developed by Yoneda et al. was simulated and implemented on the robot. Simulation required an in-depth kinematic analysis that was complicated by the mechanical design of parallel mechanism comprising the legs. These complications were handled in both simulation and implementation. However, due to mechanical issues Hexplorer walked for only one or two steps at a time.
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