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ETD Abstract Container

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Biologically-inspired control of an insect-like hexapod robot on rough terrain

Espenschied, Kenneth Scot
http://rave.ohiolink.edu/etdc/view?acc_num=case1061220984

Abstract Details

1994, Doctor of Philosophy, Case Western Reserve University, Mechanical Engineering.
There are three sections to this document: Application of a stick-insect based controller for the locomotion of a 12 degree-of-freedom (DOF) hexapod robot, the use of a simulation in the design of an 18 DOF hexapod robot and its locomotion controller, and the construction of an 18 DOF robot and a corresponding controller for locomotion on rough terrain. The stick insect controller used on the 12 DOF robot is derived from the mechanisms believed to be responsible for the coordination of the stick insect. The robot walks in a continuum of insect-like gaits in a straight line on a flat surface. A previously developed simulation of an 18 DOF hexapod was modified to include models of the motors and transmissions to be used in the 18 DOF robot. The stick insect controller used on the 12 DOF robot was modified to allow general locomotion on a plane, and this was applied to the control of the simulated hexapod. The user inputs for this controller were forward velocity, lateral velocity, and rate of yaw.
Roger Quinn (Advisor)
213 p.
Engineering, Mechanical
Hexapod robot; insect-like

Recommended Citations

Citations

  • Espenschied, K. S. (1994). Biologically-inspired control of an insect-like hexapod robot on rough terrain [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1061220984

    APA Style (7th edition)

  • Espenschied, Kenneth. Biologically-inspired control of an insect-like hexapod robot on rough terrain. 1994. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1061220984.

    MLA Style (8th edition)

  • Espenschied, Kenneth. "Biologically-inspired control of an insect-like hexapod robot on rough terrain." Doctoral dissertation, Case Western Reserve University, 1994. http://rave.ohiolink.edu/etdc/view?acc_num=case1061220984

    Chicago Manual of Style (17th edition)

case1061220984
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© 1994, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.