| DC 欄位 |
值 |
語言 |
| DC.contributor | 電機工程學系 | zh_TW |
| DC.creator | 謝承翰 | zh_TW |
| DC.creator | Cheng-Han Hsieh | en_US |
| dc.date.accessioned | 2009-8-3T07:39:07Z | |
| dc.date.available | 2009-8-3T07:39:07Z | |
| dc.date.issued | 2009 | |
| dc.identifier.uri | http://ir.lib.ncu.edu.tw:88/thesis/view_etd.asp?URN=965201093 | |
| dc.contributor.department | 電機工程學系 | zh_TW |
| DC.description | 國立中央大學 | zh_TW |
| DC.description | National Central University | en_US |
| dc.description.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。
| zh_TW |
| dc.description.abstract | 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.
| en_US |
| DC.subject | 足型機器人 | zh_TW |
| DC.subject | 足部定位控制 | zh_TW |
| DC.subject | 超音波避障 | zh_TW |
| DC.subject | legged robot | en_US |
| DC.subject | foot location control | en_US |
| DC.subject | obstacle avoiding by ultrasonic | en_US |
| DC.title | 以超音波感測避障之順從式足型機器人 | zh_TW |
| dc.language.iso | zh-TW | zh-TW |
| DC.title | A Compliant Hexapod Robot with Obstacle-Avoiding Function by Ultrasonic Sensors | en_US |
| DC.type | 博碩士論文 | zh_TW |
| DC.type | thesis | en_US |
| DC.publisher | National Central University | en_US |