| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 97 === In this thesis, which is based on the understanding of snake motion especially in
serpenoid motion and the design of the snake-like robot, the defects in previous
mechanism designs are eliminated and an external Bluetooth wireless module
communication system is added, which allows the robot to change gait parameters
online.
In a series of strain gauge experiments, there is nothing that matches the results in
the original thoughts of using this kind of sensor to determine the robot’s direction. The
only understanding is the relation between surface roughness and the value of the strain
gauge. Further experiments carried out using different kinds of motion and postures
made the previous results more reasonable. A gait control using results from different
kinds of turning motion is established and strain gauge values obtained can be used to
compensate mechanism defects during straight line motion. Further, from the idea of
radars, a photo resistor is attached on the first motor of the robot and keeps scanning the
luminance of the environment, so that the robot can eventually track and reach the light
source with the same turning motion.
To improve the disadvantages of this kind of turning motion and to solve the dead
space problem caused by using only one photo resistor, a brand new way of turning
inspired by a game in Nokia cell phone is established; through a mathematical
representation, experiments are carried out and the radius of turn is successfully reduced
compared to using traditional serpenoid motion, and this motion allows all the modules
to perform a turn on a fixed point. In this way, with the help of more photo resistors or a
webcam, the tracking or motion planning of the robot can be realized.
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