以超音波感測避障之順從式足型機器人; A Compliant Hexapod Robot with Obstacle-Avoiding Function by Ultrasonic Sensors

NCUIR > College of Electrical Engineering & Computer Science > Graduate Institute of Electrical Engineering > Electronic Thesis & Dissertation > Item 987654321/10451

Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/10451

Title:	以超音波感測避障之順從式足型機器人;A Compliant Hexapod Robot with Obstacle-Avoiding Function by Ultrasonic Sensors
Authors:	謝承翰;Cheng-Han Hsieh
Contributors:	電機工程研究所
Keywords:	足型機器人;足部定位控制;超音波避障;legged robot;foot location control;obstacle avoiding by ultrasonic
Date:	2009-07-27
Issue Date:	2009-09-22 12:17:36 (UTC+8)
Publisher:	國立中央大學圖書館
Abstract:	本論文旨在賦予順從式足型機器人具有避障功能，整個機器人除了原先的架構，本研究另外加裝四組超音波感測模組來偵測環境，幫助達成避障之功能。控制器方面，本研究使用六顆由美國Microchip公司所開發生產的單晶片PIC18F4520以及微控制器AT89S52，採用分工的方式完成所需要的功能。PIC18F為8位元單晶片，在實驗中為足部定位控制器。AT89S52為8位元微控制器，在本實驗中為步態和超音波感測模組之控制器。其中利用單晶片AT89S52來接收來自超音波感測器的訊號並運算出障礙物的距離，以達到避障的功能。 The goal of this thesis is to implement obstacle avoiding function to the Compliant Hexapod Robot. Except original equipments, we also implement 4 ultrasonic sensors for detecting surrounding environment that it will have obstacle avoiding function. There are 6 single chips adopted from Microchip and 1 microcontroller from Atmel on the robot. The single chip is an 8-bit chip, it controls the leg location. The microcontroller is also an 8-bit chip, it controls gaits and ultrasonic sensors. The distance to obstacles is calculated by the microcontroller according to the signal from ultrasonic sensors.
Appears in Collections:	[Graduate Institute of Electrical Engineering] Electronic Thesis & Dissertation

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