| Summary: | 碩士 === 逢甲大學 === 自動控制工程所 === 95 === Regarding the type of robot, there are wheel type, track type, and leg robot. Leg robot is more suitable for different terrains than wheel type or track type. Leg robot can apply to such complicated rough and stairs terrains so that the mechanism is much more complicated and heavy because of its high degree of freedom. For the purpose of dynamically stable walking, the system needs a intensive and stable control. There are centralized and distributed in controller. Distributed control can decrease complicated count and accelerate efficiency of response.
This paper describes the use of biologically-inspired distributed control algorithm in a walking hexapod robot for the purpose of generating stable gaits. The biologically-inspired distributed control algorithm was developed from biological observations of agile insects, which can cope easily with terrain that would defeat many legged robots. The development of walking hexapod robot is realized by biologically-inspired distributed control, which ranged from metachronal gait at slow speeds of walking to the tripod gait at high speeds of walking. This paper uses HexCrawler and Basic Stamp 2px (BS2px) microcontroller in the hardware, produced by Parallax, and PBasic programming language to realize the biologically-inspired distributed control algorithm.
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