Dissertation > Excellent graduate degree dissertation topics show

Research of Gait Planing and Motion Control for Quadruped Robot

Author: WangWenMing
Tutor: WangJiZuo
School: Shandong University of Science and Technology
Course: Precision instruments and machinery
Keywords: quadruped robot stability margin motion control BP neural network Matlab
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 88
Quote: 0
Read: Download Dissertation

Abstract


Robot technology is a cross-discipline subject. It involves electronics, mechanics, mechanics, biology, systems engineering, computers, artificial intelligence and other disciplines of knowledge. Quadruped robot has better stability than two-legged robot, and avoids the redundancy and complexity of hexapod robot. It can walk on the rough ground and complex terrain with static gait, and also can walk quickly with dynamic gait. Quadruped robot has a wide application prospect in factory automation, construction, mining, eliminating dangerous, military, service, agriculture. It has an important practical value and social significance on the research of this aspect.The paper takes quadruped robot as research object. The research content mainly includes following aspects:1. Research four common gait of quadruped robot:crawling gait、trotting gait、pacing gait and bounding gait, and analyze the timing of various gaits. Stability margin is adopted to analyze and calculate the static stability of quadruped robot. It provides reason for the structure design and improvement of quadruped robot.2. Design the motion control hardware system structure of hierarchical structure for the quadruped robot. The control system has three layers, including control level、organization level、executive level. The entire control system consists of PC, industrial computer, motion control card, data acquisition cards and sensors. The system is an open system, it has good scalability and maintainability, reduces the development cycle of system.3. Using the intelligent algorithm of BP neural network to control the motion of quadruped robot, and simulates the algorithm with Matlab. Adopting mixed programming of VC++and Matlab to improve the programming efficiency.4. BP neural network control algorithm is verified by the walking experiment of quadruped robot, the results show that the BP neural network algorithm has good self-learning and adaptability, have some intelligence, it is feasible for the motion control of quadruped robot, it provides the hardware and theory foundation for further control law research of quadruped robot.

Related Dissertations

  1. Design of Reciprocatingwire Outfit of Mwedmand Research on It’s Control System,TG484
  2. Several Key Issues on Closed-Loop Control for Precision Laser Tracking Device,TN249
  3. Research on Feature Extraction and Classification of Tongue Shape and Tooth-Marked Tongue in TCM Tongue Diagnosis,TP391.41
  4. Research on Visual Servo System of Mechanical ARM,TP242.6
  5. Application Research of Digital Image Processing on Container Inspection,TP274.4
  6. Study on Adaptive Fuzzy Control Algorithm and Its Implementation,TP273.4
  7. Municipal tourism land use planning environmental impact assessment,X820.3
  8. S-lay Installation Analysis for Deepwater Pipeline,TE973
  9. The Research on Evaluation of Living Status Systems of Expressway Relocated People,D523
  10. The Research and Application of Software Reliability Test for User Right Management System,TP311.53
  11. Research and Application of Safety Assessment Method Based on Neural Network,X937
  12. The Design of Experimental Device for Mine Motor Soft Starter,TM343.2
  13. Research on Analytical Method to Calculate the over Voltage and Surge Impedance of Tower under Lightning,TM863
  14. Mining resources based on genetic algorithm optimization model of,O224
  15. SAR interferometric method for optimal selection,P225.2
  16. Design and Simulation on MDOF Robotic Prosthesis’s Shoulder,TP242
  17. Pneumatic Muscle Actuators humanoid design and control of the elbow,TP242
  18. Study on Industrial Boiler Water Level Control System,TP273
  19. Analysis on Water Ecological Carrying Capacity of Jiangxi Province,TV213.4
  20. Research of Control Strategy Based on the Electro-hydraulic Proportional Position Control System,TH137.52
  21. Study on Safety Comprehensive Assessment of Hydro-Power Construction Sites,TV513

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile