Title page for etd-0824109-181204


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URN etd-0824109-181204
Author Dong-yu Wu
Author's Email Address No Public.
Statistics This thesis had been viewed 5350 times. Download 962 times.
Department Mechanical and Electro-Mechanical Engineering
Year 2008
Semester 2
Degree Master
Type of Document
Language zh-TW.Big5 Chinese
Title Effects of Morphological Factors of Hexapod Robots on Locomotion Stability
Date of Defense 2009-07-13
Page Count 110
Keyword
  • Metachronal gait
  • Symmetric gait
  • Error margin
  • Stability margin
  • Offset model
  • Abstract   This thesis studies the effects of morphological factors of hexapod robots on their locomotion stability. In particular, an offset model for such robots is proposed. The stability margin as well as the error margin are used to indicate the stability of the hexapod robot, as it walks with different gaits in arbitrary directions. Two hexapod gaits are compared, which are the symmetric gait and the metachronal gait. The former is an artificial gait and the latter, on the contrary, is a natural gait which can be observed in many multiped animals.
    As we investigate advantages and disadvantages of the two gaits, we find that the stability of a hexapod robot can be enhanced by increasing the offset value. This is particularly true for a robot moving in the X and oblique directions with a symmetrical gait. However, altering the offset is less useful for metachronal gaits. In general, a hexapod robot moves most stably in the Y direction with a symmetrical gait, whereas it is most stable in the X direction with a metachronal gait.
    Advisory Committee
  • Cheng-Ho Hsu - chair
  • Kuen-Ming Li - co-chair
  • Innchyn Her - advisor
  • Files
  • etd-0824109-181204.pdf
  • indicate access worldwide
    Date of Submission 2009-08-24

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