Sensor Feedback Control for a Bio-mimetic Snake-like Robot

• Main Authors: Sz-Lung Chen, 陳思龍
• Other Authors: Jia-Yush Yen
• Format: Others
• Language: en_US
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/72647867514589603398

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.