Graduate Thesis Or Dissertation
 

Kinematic analysis of walking machine foot trajectory

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https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/9w032667g

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  • A method to design foot trajectory in Cartesian coordinates for a six-leg walking machine is presented in this thesis. The walking machine is based on the geometry of the darkling beetle. The walking procedure developed by Y.S. Baek is introduced first to provide step length and leg swing time for foot trajectory planning. This procedure also supplies required parameters to describe the relationship between feet and body during locomotion. The trajectory of a single foot consists of the path and its temporal attributes, that is, velocity and acceleration. Several methods and constraints for path and velocity profile design are discussed. Software developed in Microsoft Quick C is used to generate and animate on the screen a single desired foot trajectory applied to each of the six legs by combining paths and velocity profiles. The generated trajectory is converted to joint coordinates to provide necessary data for leg control. Since a single foot trajectory is applied to three pairs of legs of different design, three sets of joint coordinate sequences are produced. Furthermore, each leg consists of three segments and three joints necessitating nine control sequences altogether. Half-ellipse and trochoidal paths are interpolated with 5th and 6th order polynomials to determine minimum required joint acceleration. All paths and their first and second derivatives are required to be smooth. The effect of body pitch are also examined.
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