Walking Gait Control of Hexapod Robot with 3 Joint Leg
- Abstract
- In nature, many animals have legs for locomotion. Legged locomotion is proper for movements. There are different types of legged robots such as bipeds, tripods, quadrupeds, hexapods, octopods, etc. Hexapod robots with various configurations and leg designs are widely used in practice due to their simplicity and static balance. Several walking gait controls of the hexapod robot have been researched. The hexapod robot with different configuration must have different walking gait controls. Therefore, a new walking gait control is needed more.
The objective of this thesis is the walking gait control of hexapod robot (HR) with three joint legs. To do this task, the three following problems are considered. The first one is to present the three joint leg kinematic modeling of the hexapod robot. The second is to present walking control of the hexapod robot. The last one is to present comparison between simulation and experiment of walking gait control of the hexapod robot. The following tasks were done to solve the problems.
First, the kinematic modeling of one leg or the hexapod robot is presented to understand its behavior. The Denavit-Hartenberg (DH) convention is adopted to define the modeling parameters which allow the construction of the forward kinematics function by composition of the individual coordinate transformation.
Second, the inverse kinematic algorithm is proposed for controlling the walking gait of the hexapod robot. The inverse kinematic is to determine joint angles of links from the desired position of the end effect or of the hexapod robot.
Third, the walking gaits of triple gait and tripod gait are applied to 6 legs of the hexapod robot. The leg transfer trajectories are modified to achieve the movement for forward movement, sideways movement and rotation movement.
Fourth, a real hexapod robot with a round shape of body and six legs is developed with several interconnected devices such as: servo motors, microcontroller, etc. The data processing and the control algorithm are computed by the computer which provides the signals to microcontroller. The microcontroller controls the servo motors.
Finally, simulation and experimental results are done to demonstrate the effectiveness of the proposed controller for two walking gaits of the hexapod robot.
- Issued Date
- 2015
- Awarded Date
- 2015. 2
- Type
- Dissertation
- Publisher
- Pukyong National University, The Graduate School
- Affiliation
- Pukyong National University, Department of Mechanical Design Engineering
- Department
- 대학원 기계설계공학과
- Advisor
- Sang Bong Kim
- Table Of Contents
- Acknowledgements
Contents i
Abstract iii
List of Figures v
List of Tables x
Nomenclatures xi
Chapter 1: Introduction 1
1.1 Background and motivation 1
1.2 Objective and researching method 8
1.3 Outline of this thesis and summary of contribution 9
Chapter 2: Review of Legged Robot and Walking Gait 11
2.1 Review of legged robot 11
2.2 Walking gait 15
Chapter 3: System Description and Modeling 18
3.1 Mechanical system 18
3.2 Electrical system 21
3.2.1 Servo controller 21
3.2.2 Servomotors 22
3.2.3 PS2 joystick 23
3.2.4 Battery 23
3.3 Kinematic modeling of the hexapod robot with 3 joint legs 24
Chapter 4: Walking Gait Control of the Hexapod Robot 29
4.1 Inverse kinematic algorithm 29
4.1.1 Hip joint angle calculation 29
4.1.2 Knee joint vector calculation 31
4.1.3 Knee leg vector calculation 32
4.1.4 Knee and ankle angles calculation 32
4.2 Linear movement 35
4.3 Rotation movement 37
Chapter 5: Simulation and Experiment 41
5.1 Tripod gait 43
5.2 Ripple gait 58
Chapter 6: Conclusions and Future Works 71
6.1 Conclusions 71
6.2 Future works 73
References 74
Publication and Conferences 80
Appendix A: Denavit-Hartenberg (DH) Convention 81
Appendix B: The proof of Eq. (3.5) 83
- Degree
- Master
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