A Gait Based Approach to Detect Directional Bias of Four-Legged Robots' Direct Walking Utilizing Acceleration Sensors

• Main Authors: Ding-jie Huang, 黃鼎傑
• Other Authors: Wei-Chung Teng
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/kh9777

碩士 === 國立臺灣科技大學 === 資訊工程系 === 94 === In this thesis, we proposed an effective approach to detect the directional bias of walking four-legged robots. We found that four-legged robots tend to have unstable directional bias while walking, thus this approach must be able to dynamically and continuously detect the directional bias. We use AIBO, a four-legged robot made by SONY, as the experiment platform. One of the advantage of our method is that it only needs to use low sensitive sensors and limited computing power, so it is considered easy to apply the method to other four-legged robots. Our approach is developed by analyzing the acceleration sensor data from AIBO robot with Matlab software, and by observing the feature of AIBO`s walking gaits. By utilizing the relation between the accelerometer data and the gaits, we developed an ideal gait based approach to detect directional bias. Also we extend this method to a multi-gait detecting strategy which is used to compensate the bias between every gait. In order to make sure the correctness of our approach, several experiments were designed and executed. As a result, we can correctly detect the direction of bias within five gaits, and the correct rate of single gait can be up to 90%.