| Summary: | 碩士 === 國立臺灣科技大學 === 電機工程研究所 === 82 === This main purpose for the development of walking machines is to
replace wheel or tracked vehicles advancing on rugged road or
areas which is inaccessible to either wheeled or tracked
vehcles. This thesis aims at the research of a high performance
plane- tary gear locomotive leg. In addition, various control
algorithms shall be developed and applied to perform the
"walk". In the developed hardware, we have designed a multiaxis
cont- rol system for the leg. In addition, interface circuits
are also included. As for the developed software, there are
system testi- ng programs, trajectory planning program and the
position and force control software. Experimental results shows
that the developed leg''s performa- nce has met our expectation.
This leg shall pave a way for furth- er development of a
quadrupeed walking machine.
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