Construction and Visual Servo Control of a Quadruped Bio-like Robot

• Main Authors: Dung-Lih Hsieh, 謝東利
• Other Authors: Tsing-Iuan Tsay
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/05324312012710568915

碩士 === 國立成功大學 === 機械工程學系碩博士班 === 94 === Abstract With advances in electronics and control tecnology, bio-like robots have been designed in the recent decade. They have been increasingly investigated by many researchers, and applied extensively in many fields, such as entertainment, life service, household chores and calamity rescue. The objective of this thesis is to create a quadruped bio-like robot and develop its control strategy for visually guided gripping of material. The quadruped bio-like robot constructed herein features 3 degrees of freedom for each leg, 3 for the head and another 1 for the mouth, as well as a head-mounted CCD camera. In the execution of gripping operations, the robot moves in two stages. In the first stage of movement, the robot walks toward the material and gets close to it. Then, in the second stage of movement, the robot stands next to the material and continues to perform the gripping manipulation. A vision-guided control strategy with a behavior-based look-and-move structure is proposed. The strategy is based on three predefined image features in the first stage and six predefined image features in the second stage. In the designed neural fuzzy controllers, each image feature is taken to generate intuitively one DOF motion command relative to the camera coordinate frame using fuzzy rules, which define a specific visual behavior. These behaviors are then combined and executed in turns to perform approaching and gripping tasks.