Master Thesis
The thesis goal is to design and implement quadruped robots which can walk on rough terrain.
Members:
Mechanical Design: Kuo-Shih Tseng
Analog Circuit Design and implementation: Kuo-Shih Tseng
8051 Firmware programing: Kuo-Shih Tseng
Poject results:
After I collect bio-robot information, I wanted to pursue intriguing research that significantly explaining why I decided to study “Design and Control of Quadruped Robot” Because I ever watched one kind of alaog robot in discovery channel, I am curious about analog walking robot.
Circuits
As Fig 1, a Neuron is comprising a capacity, resistor and inverter. If output of a Neuron is input, it will generate a pulse (Fig 2). The pulse width is relative to product of capacity and resistor. When four Neurons connect each other, It will generate a potential difference and phase lag. Potential difference of b point and c point lead a motor rotate counterclockwise and then clockwise. Phase lag lead different motor rotate with a time delay. The serious pulses cleverly generate the gaits of a walking robot.
Fig 1 Neuron
Fig 2 signal of a Neuron
Fig 3 Equation of a Neuron
Fig 4 Signal of 4 Neurons
Mechanical Desgin:
After accomplishing two small robots, John and rocker, I start to design two more reliable quadruped robot. I design SIMONE and NTU-SIMONE. These mechanical components are processed by laser cutting . I adopt aluminum as the main material in order to decrease robot's weight. I adopt Pantograph as the leg mechanism.
Fig 5 drawing of NTU-SIMONE
Fig 6 Leg part drawing of NTU-SIMONE ()
Fig 7 Upper view of NTU-Simone
Control algorithm:
Fig 8 structure of System identification
Fig 9 circuit of System identification
Fig 10 input and output data of System identification
Fig 11 Bode diagram of System identification
Fig 12 Model fitting of System identification
Fig 13 PID controller simulation based on motor model
Movies:
Rocker: [wmv]
John : [wmv]
SIMONE's Leg mechanism: Simulation [wmv] , Leg mechanism [wmv]
SIMONE: [wmv]
NTU SIMONE's Leg mechanism (Pantograph): Simulation [ wmv] , Leg mechanism [wmv]