Study on Hexapod’s Stable Gaits Based on Gray Theory

• Main Authors: Po-Wei Lee, 李柏威
• Other Authors: 江昭皚
• Format: Others
• Language: zh-TW
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/69820311256807648501

碩士 === 國立臺灣大學 === 生物產業機電工程學研究所 === 92 === 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.