| Summary: | 碩士 === 義守大學 === 資訊工程學系 === 101 === This thesis is working on a hexapod and the hardware modules of system controllers include DE2-70, DE0-Neno and CCD camera modules. Based on these FPGA demo-board, an embedded system controller and peripherals are designed without any other module from other sources. The major developments, using PC as a platform core by using software-hardware co-design method, includes embedded CPU, software, hardware and drivers. From this PC, the developer may see most of the feedback and status from the embedded controllers and sensors. The CCD is a monitor and used to check the movement through computer vision modules for the purpose of walking on a straight line. The movement controller has two major modules presented as a hardware coprocessor, including Sobel edge Detection and dilation modules from the CCD module. The driver of those 6 legs are using the rule of Inverse kinematics using the parameters calculated from an Excel file. Also, the vibration signal is catches from a G-Sensor for the analysis of the stability of this system. The control of whole system’s stability is feasible from the movement control.
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