Design and Motion Control of Low-Power Signal-Joint Small Bionic Robot

• Main Authors: Liao, Jung-Pin, 廖榮彬
• Other Authors: Lin, Chin-Teng
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/t4vwrw

碩士 === 國立交通大學 === 電機學院電機與控制學程 === 105 === A procedure is a small-sized bionic robot with four single-joint feet, simple structure, low power consumption and light weight was developed and tested. The goal of these designs is to overcome the problem that the traditional multi-joint robot is too large to enter into the narrow space or complex terrain and industrial pipeline. For enhancing the reliability, learning function has been implemented into this small-sized bionic robot with four single-joint feet. With this learning program, this bionic robot can go through any unknown environment by barrier detection, distance detection and signal modification. The actual implementation process include: mechanism design, program development, circuit design and system integration. The size of this bionic robot is smaller than an adult palm and can independently perform the tasks without remote computing and communicating. The computation speed is very fast due to simplifying the amount of neuron used by machine learning algorithm. In the optimization of gait control, only one or two motors were used. This design not only can efficiently reduce power consumption for increasing the endurance, but also effectively adjust the gait to pass the angle test, distance test, and maze test. The small-sized bionic robot with four single-joint feet developed in this thesis can easily integrate commercial module and our gait control to effectively achieve the goals of robot miniaturization and reducing power consumption.