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Implementation of a Variable Duty Factor Controller on a Six-Legged Axi-Symmetric Walking Robot

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sjcutler2006.pdf (13.71 MB)

Date

2006

Authors

Cutler, Steven

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Volume Title

Publisher

University of Waterloo

Abstract

Hexplorer is a six-legged walking robot developed at the University of Waterloo. The robot is controlled by a network of seven digital signal processors, six of which control three motors each, for a total of 18 motors. Brand new custom electronics were designed to house the digital signal processors and associated circuitry. A variable duty factor wave gait, developed by Yoneda et al. was simulated and implemented on the robot. Simulation required an in-depth kinematic analysis that was complicated by the mechanical design of parallel mechanism comprising the legs. These complications were handled in both simulation and implementation. However, due to mechanical issues Hexplorer walked for only one or two steps at a time.

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Keywords

Systems Design, mobile robot, wave gait, hexapod

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Citation

URI

http://hdl.handle.net/10012/2887

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Theses
Systems Design Engineering