Design and Fabrication of Six Leg Kinematic Moving Machine

7/23/2019 Design and Fabrication of Six Leg Kinematic Moving Machine

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DESIGN AND FABRICATION OF

SIX LEG KINEMATIC MOVING

MACHINE

SUBMITTED BY,

Mahesh waran.M

Kaviarasan.T

Muthu kumar. S.K

Elavarasan.K


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ABSTRACT

SIX-LEGGED WALKING MACHINE: THE ROBOT-EA308

The work presented in this thesis aims to make contribution to theunderstanding and application of six-legged statically stable walking

machines in both theoretical and practical levels. In this thesis five

pieces of work, performed with and for the three-joint six-legged Robot-

EA308, are presented: 1) Standard gaits, which include the well-known

wave gaits, are defined and a stability analysis, in the sense of static

stable walking, is performed on an analytical level. Various definitions

are given; theorems are stated and proved. 2) A free gait generationalgorithm with reinforcement learning is developed. Its facilities of

stability improvement, smooth speed changes, and adaptation in case of

a rear-leg deficiency with learning of five-legged walking are

experimented in real-time on the Robot- EA308. 3) Trajectory

optimization and controller design is performed for the protraction

movement of a three-joint leg. The trajectory generated by the controller

is demonstrated with the Robot- EA308. 4) The full kinematic-dynamicformulation of a three-joint six-legged robot is performed with the joint-

torques being the primary variables. It is demonstrated that the proposed

torque distribution scheme, rather than the conventional force

distribution, results in an efficient distribution of required forces and

moments to the supporting legs. 5) An analysis of energy efficiency is

performed for wave gaits. The established strategies for determination of

gait parameters for an efficient walk are justified using the Robot-

EA308.


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Many of the animals in nature have adopted legs for various

environmental conditions.

Centipedes, spiders, cockroaches, cats, camels, kangaroos, and human

are among those, either withdifferent number of legs or with different kind of walking. It is

understandable that people turned

their attention to those walking animals, after it was recognized that the

human invented wheeled

and tracked systems did not satisfy all the needs. In this sense, legged

systems have a peculiarity of

imitating the nature. This imitation is obvious in structural similarity

between legged robots andimitated animals; however, for today the imitation is not limited to

structural design. Today

researchers are trying to understand the underlying biological principles

of walking in animals,

namely the operational and control structures (Hughes, 1965; Wilson,

1966; Pearson, 1976; Cruse,

1979; Cruse et. al, 1983; Cruse, 1990). The results of such biological

researches have been utilized

in robotics via inspirations. Among many of them are Cruse et al.(1998),

Espenschied et al. (1996),

Pfeiffer et al. (1995), and Clark et al. (2001).

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Design and Fabrication of Six Leg Kinematic Moving Machine