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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 顏家鈺(Jia-Yush Yen) | |
dc.contributor.author | Sz-Lung Chen | en |
dc.contributor.author | 陳思龍 | zh_TW |
dc.date.accessioned | 2021-06-15T01:48:10Z | - |
dc.date.available | 2009-07-14 | |
dc.date.copyright | 2009-07-14 | |
dc.date.issued | 2009 | |
dc.date.submitted | 2009-07-06 | |
dc.identifier.citation | [1] I. Erkmen, A. M. Erkmen, et al., “Snake robots to the rescue!” Robotics &
Automation Magazine, IEEE, pp. 17-25, vol. 9, 2002. [2] T. L. Tang Chen, “A Bio-mimetic Snake-like Robot: Sensor Based Gait Control,” National Taiwan University, 2008. [3] M. Saito, M. Fukaya, and T. Iwasaki, “Serpentine locomotion with robotic snakes,” Control Systems Magazine, IEEE, pp. 64-81, vol. 22, 2002 [4] S. Hirose, “Biologically Inspired Robot : Snake-like Locomotors and Manipulators,” Oxford University Press, 1993 [5] Types of motion of a snake: http://science.howstuffworks.com/snake3.htm [6] M. Mori and S. Hirose, “Development of active cord mechanism ACM-R3 with agile 3D mobility,” Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1552-1557, vol. 3, 2001. [7] M. Mori and S. Hirose, “Three-dimensional serpentine motion and lateral rolling by active cord mechanism ACM-R3,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 829-834, vol. 1, 2002. [8] S. Hirose and M. Mori, “Biologically inspired snake-like robots,” Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 1-7, 2004. [9] K. Ito and Y. Fukumori, “Autonomous control of a snake-like robot utilizing passive mechanism,” Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006. [10] S. Ma, et al., “Development of a creeping snake-robot,” Proceedings of the 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 77-82, 2001. [11] Reptiles and Snakes: http://www.rubberbug.com/reptiles.htm [12] Ultrasonic motor: http://en.wikipedia.org/wiki/Ultrasonic_motor [13] J. Gray, “The Mechanism of Locomotion in Snakes,” Journal of Experimental Biology, pp. 101-120, vol. 23, 1946. [14] S. Ma, “Analysis of creeping locomotion of a snake-like robot,” Advanced Robotics, pp. 205-224, vol. 15, 2001. [15] GWS Servo Motor actuation form http://www.gws.com.tw/chinese/product/SERVO/servo%20form.htm [16] Controller Area Network: http://en.wikipedia.org/wiki/Controller_Area_Network [17] Datasheets: PIC18F2480/2580/4480/4580 Datasheet, Microchip, http://ww1.microchip.com/downloads/en/DeviceDoc/39637c.pdf [18] Datasheets: APP001 Ver2. Datasheet, Microchip, http://www.microchip.com.tw/Taiwan_CAE/APP001%20C_Manual%20VER.2. [19] Datasheets: SP3232E Datasheet, Sipex Corporation, http://pdf1.alldatasheet.com/datasheet-pdf/view/157013/SIPEX/SP3232E.html [20] Datasheets: AD620 Datasheet, Analog Devices, http://www.analog.com/static/imported-files/data_sheets/AD620.pdf [21] CdS Photo Resistors – PGM Series, TOKEN, http://ronja.twibright.com/datasheets/cds-resistor-pgm.pdf [22] Microcontroller units: http://www.microchip.com [23] J. Ostrowski and J. Burdick, “Gait Kinematics for a Serpentine Robot,” Proceedings of the 1996 IEEE International Conference on Robotics and Automation, pp. 1294-1299, vol. 2, 1996. [24] S. Hirose, “Biomechanical Engineering,” 1987 [25] H. Date, M. Sampei, S. Nakaura, “Control of a Snake Robot in Consideration of Constraint Force,” Proceedings of the 2001 IEEE International Conference on Control Applications, pp. 966-971, 2001. [26] P. Prautsch, and T. Mita, “Control and Analysis of the Gait of Snake Robots,” Proceedings of the 1999 IEEE International Conference on Control Applications, pp. 502-507, vol. 1, 1999. [27] L. Jammes, Y. Kyodo, M. Hiraki, and S. Ozono, “Design concept and undulatory motion mode of a modular snake-like robot,” Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1794-1800, vol. 3, 1997. [28] C. L. Ye, S. Ma, B. Li, Y. C. Wang, “Turning and Side Motion of Snake-like Robot,” Proceedings of the 2004 IEEE International Conference on Robotics and Automation, pp. 5075-5080, vol. 5, 2004. [29] R. Linnemann, K.L. Paap, B. Klaassen, and J. Vollmer, “Motion control of a snakelike robot,” 1999 Third European Workshop on Advanced Mobile Robots, pp. 1-8, 1999. [30] K. Dowling, “Limbless locomotion: learning to crawl,” Proceedings of the 1999 IEEE International Conference on Robotics and Automation, pp. 3001-3006 vol.4, 1999. [31] G.A. Bekey, “Autonomous robots : from biological inspiration to Intelligent robotics and autonomous agents,” MIT Press, 2005. | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/43301 | - |
dc.description.abstract | In this thesis, which is based on the understanding of snake motion especially in
serpenoid motion and the design of the snake-like robot, the defects in previous mechanism designs are eliminated and an external Bluetooth wireless module communication system is added, which allows the robot to change gait parameters online. In a series of strain gauge experiments, there is nothing that matches the results in the original thoughts of using this kind of sensor to determine the robot’s direction. The only understanding is the relation between surface roughness and the value of the strain gauge. Further experiments carried out using different kinds of motion and postures made the previous results more reasonable. A gait control using results from different kinds of turning motion is established and strain gauge values obtained can be used to compensate mechanism defects during straight line motion. Further, from the idea of radars, a photo resistor is attached on the first motor of the robot and keeps scanning the luminance of the environment, so that the robot can eventually track and reach the light source with the same turning motion. To improve the disadvantages of this kind of turning motion and to solve the dead space problem caused by using only one photo resistor, a brand new way of turning inspired by a game in Nokia cell phone is established; through a mathematical representation, experiments are carried out and the radius of turn is successfully reduced compared to using traditional serpenoid motion, and this motion allows all the modules to perform a turn on a fixed point. In this way, with the help of more photo resistors or a webcam, the tracking or motion planning of the robot can be realized. | en |
dc.description.provenance | Made available in DSpace on 2021-06-15T01:48:10Z (GMT). No. of bitstreams: 1 ntu-98-R96522814-1.pdf: 4229408 bytes, checksum: 2924e15f6d157722edbcd7ed8b42559c (MD5) Previous issue date: 2009 | en |
dc.description.tableofcontents | 口試委員會審定書(中文) .................................................................................................... I
口試委員會審定書(英文) ................................................................................................... II 致謝 ......................................................................................................................................... III 中文摘要 ................................................................................................................................ IV Abstract .................................................................................................................................... V Table of Contents ................................................................................................................... VII List of Figures ......................................................................................................................... IX List of Tables ......................................................................................................................... XIII Chapter 1 Introduction .......................................................................................................... 1 1.1 Preface .............................................................................................................. 1 1.2 Research Motivation ........................................................................................ 1 1.3 Research Purpose ............................................................................................. 2 1.4 Prior Art (Paper Survey) [2] ............................................................................. 3 1.5 Thesis Work and Contribution ....................................................................... 11 Chapter 2 Principle of Serpenoid Motion and Mechanism of Snake-like Robot ............... 13 2.1 Principle of Motion in Snakes ........................................................................ 13 2.2 Serpenoid Motion ........................................................................................... 14 2.2.1 Theory [2] .................................................................................................. 14 2.2.2 Mathematical Representation .................................................................... 16 2.2.3 Turning ...................................................................................................... 18 2.3 Design of Snake-like Robot ........................................................................... 22 Chapter 3 Mechanism, Actuator, Controller, and Sensor .................................................... 25 3.1 Mechanism Design ......................................................................................... 25 VIII 3.1.1 Version 1 .................................................................................................... 25 3.1.2 Version 2 .................................................................................................... 28 3.2 Controller ....................................................................................................... 32 3.2.1 PWM .......................................................................................................... 32 3.2.2 Printed Circuit Board (Controller Board) .................................................. 34 3.2.3 Bluetooth wireless module ......................................................................... 35 3.3 Strain Gauge Sensor ....................................................................................... 39 3.3.1 Strain Gauge and Amplifier ....................................................................... 39 3.4 Photo resistor Sensor ...................................................................................... 43 3.4.1 Introduction to Photo resistor .................................................................... 43 Chapter 4 Experimental Results .......................................................................................... 45 4.1 Setup............................................................................................................... 45 4.2 Strain Gauge Experiment ............................................................................... 46 4.2.1 Strain Gauge Calibration [2] ...................................................................... 47 4.2.2 Results........................................................................................................ 48 4.2.3 Gait Control (Friction Feedback Straight Motion) .................................... 59 4.3 Photo-resistor Experiment .............................................................................. 65 4.3.1 Photo Resistor Calibration ......................................................................... 66 4.3.2 Light Source tracking control .................................................................... 67 4.4 Motions .......................................................................................................... 71 4.4.1 Stationary Turning Motion ........................................................................ 72 Chapter 5 Conclusions and Future Work ............................................................................ 81 5.1 Conclusions .................................................................................................... 81 5.2 Future Work ................................................................................................... 82 References ............................................................................................................................... 85 | |
dc.language.iso | en | |
dc.title | 仿生機器蛇之感應器回饋控制 | zh_TW |
dc.title | Sensor Feedback Control for a Bio-mimetic Snake-like Robot | en |
dc.type | Thesis | |
dc.date.schoolyear | 97-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 陳永耀(Yung-Yaw Chen),連豊力(Feng-Li Lian) | |
dc.subject.keyword | 機器蛇,轉彎,感測器, | zh_TW |
dc.subject.keyword | snake robot,turning motion,sensors, | en |
dc.relation.page | 88 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2009-07-07 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
顯示於系所單位: | 機械工程學系 |
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