Control of an 8-legged, 24 DOF, Control of an 8-legged, 24 DOF, - - PowerPoint PPT Presentation

07/31/07 2

Control of an 8-legged, 24 DOF, Control of an 8-legged, 24 DOF, Mechatronic Robot Mechatronic Robot

Brian Lim Youliang Kuvesvaran s/o Paramasivan National Junior College

• Assoc. Prof. Dr. Malcolm Francis John Nickols

Nanyang Technological University

Project Goals Project Goals

 To investigate into biomimetics

– mimicking of biological organisms

 To apply legged motion to robots

– advantageous for traversing over undulating terrain

Body Body Structure Structure

Leg Leg Structure Structure

Plan View of Plan View of Motion Motion

0° 45° 90°

• 135°

180°

• 45°
• 90°

135° 1 2 3 4 5 6 7

Phase Difference Phase Difference

air ground 1 2 3 4 5 6 7 leg time sequence

Circuitry Circuitry

Future Developments Future Developments

 Motion extension to:

– movement in 7 other directions – rotation about centre

 Applications:

– as reconnaissance vehicles – as toys

Demonstration

The End