Insect-Inspired Control for Implementing Curve Walking of a Hexapod

• Main Authors: Pin-yi Guo, 郭品易
• Other Authors: Nan-jou Lin
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/87425029369379756220

碩士 === 逢甲大學 === 自動控制工程所 === 98 === The main purpose of this paper is to describe an insect-inspired control strategy making a hexapod capable of curve-walking. Through the use of the relationship of the leg’s swinging angular velocity to swinging angle, which is based on the features obtained by observing an insect’s running ahead and turning, an insect-inspired locomotion controller for legged robots is devised. A test hexapod HexCrawler exhibits the achievement of the degree of walking ahead and turning with variable curvature and stable gait. In addition, a binaural ultrasonic sensor system which is mounted to the front of HexCrawler allows the hexapod to navigate a cluttered environment autonomously.