PHD-cutler2006.pdf

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Implementation of a
Variable Duty Factor Controller on a
Six-Legged Axi-Symmetric Walking
Robot
by
Steven J. Cutler
A thesis
presented to the University of Waterloo
in fulfillment of the
thesis requirement for the degree of
Master of Applied Science
in
Systems Design Engineering
Waterloo, Ontario, Canada, 2006
c Steven J. Cutler 2006
I hereby declare that I am the sole author of this thesis. This is a true copy of the thesis,
including any required final revisions, as accepted by my examiners. I understand that my
thesis may be made electronically available to the public.
Steven J. Cutler
ii
Abstract
Hexplorer is a six-legged walking robot developed at the University of Waterloo. The
robot is controlled by a network of seven digital signal processors, six of which control
three motors each, for a total of 18 motors. Brand new custom electronics were designed
to house the digital signal processors and associated circuitry. A variable duty factor wave
gait, developed by Yoneda et al. was simulated and implemented on the robot. Simulation
required an in-depth kinematic analysis that was complicated by the mechanical design
of parallel mechanism comprising the legs. These complications were handled in both
simulation and implementation. However, due to mechanical issues Hexplorer walked for
only one or two steps at a time.
iii
Acknowledgements
Special thanks are owed to my Supervisors, John McPhee and Eric Kubica. Without their
support and encouragement very little would have seen fruition.
As for lab-mates, none could be better than Derek Wight. I thank him for his engaging
conversation, insight, and Solidworks help.
Of course, the same is true of my family. I would like to thank them for their patience
and support, which go hand-in-hand with answering the phone late at night.
Unfortunately, my clumsy and clinical words cannnot express my gratitude to Rita.
Even when circuits were blown causing undoubtedly toxic vapour to fill the air, Rita gave
me the reassurance and motivation I needed. I love you Rita, and I will get a job soon, I
promise.
iv
Contents
1 Introduction
1.1 Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Literature Review . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Robot Configuration
2.1 Mechanical Configuration . . . .
2.2 Electrical Configuration . . . . .
2.2.1 Power Distribution Board
2.2.2 DSP Board . . . . . . . .
2.2.3 Brain Daughter Board . .
2.2.4 Leg Daughter Board . . .
2.2.5 Sensor Boards . . . . . . .
2.3 Computing Configuration . . . .
2.4 Summary . . . . . . . . . . . . .
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3 Gait Algorithm
3.1 Yoneda’s Algorithm . . . . . . . . . . . .
3.1.1 Definitions . . . . . . . . . . . . .
3.1.2 Overview . . . . . . . . . . . . .
3.1.3 Motion Input . . . . . . . . . . .
3.1.4 Conventional Forward Wave Gait
3.1.5 Gait Planner . . . . . . . . . . .
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