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

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 07/31/07 2

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 0 ° Motion Motion 135 ° 45 ° 0 7 1 -90 ° 90 ° 6 2 3 5 4 -135 ° -45 ° 180 °

Phase Difference Phase Difference leg air ground 0 1 2 3 4 5 6 7 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