Effects of Morphological Factors of Hexapod Robots on Locomotion Stability

• Main Authors: Dong-yu Wu, 吳東育
• Other Authors: Innchyn Her
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/u3s2x7

碩士 === 國立中山大學 === 機械與機電工程學系研究所 === 97 === This thesis studies the effects of morphological factors of hexapod robots on their locomotion stability. In particular, an offset model for such robots is proposed. The stability margin as well as the error margin are used to indicate the stability of the hexapod robot, as it walks with different gaits in arbitrary directions. Two hexapod gaits are compared, which are the symmetric gait and the metachronal gait. The former is an artificial gait and the latter, on the contrary, is a natural gait which can be observed in many multiped animals. As we investigate advantages and disadvantages of the two gaits, we find that the stability of a hexapod robot can be enhanced by increasing the offset value. This is particularly true for a robot moving in the X and oblique directions with a symmetrical gait. However, altering the offset is less useful for metachronal gaits. In general, a hexapod robot moves most stably in the Y direction with a symmetrical gait, whereas it is most stable in the X direction with a metachronal gait.