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dc.contributor.authorCutler, Stevenen 13:50:27 (GMT) 13:50:27 (GMT)
dc.description.abstractHexplorer 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.en
dc.format.extent14377618 bytes
dc.publisherUniversity of Waterlooen
dc.rightsCopyright: 2006, Cutler, Steven. All rights reserved.en
dc.subjectSystems Designen
dc.subjectmobile roboten
dc.subjectwave gaiten
dc.titleImplementation of a Variable Duty Factor Controller on a Six-Legged Axi-Symmetric Walking Roboten
dc.typeMaster Thesisen
dc.pendingfalseen Design Engineeringen
uws-etd.degreeMaster of Applied Scienceen

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