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URN etd-0829113-021823 Statistics This thesis had been viewed 1927 times. Download 421 times. Author Chiau-Wei Huang Author's Email Address No Public. Department Electrical Engineering Year 2012 Semester 2 Degree Master Type of Document Master's Thesis Language Chinese&English Page Count 75 Title THE IMPLEMENTATION AND CONTROL OF HEXAPOD ROBOT WITH VISUAL OBSTACLE AVOIDANCE Keyword hexapod robot obstacle avoidance inverse kinematics visual servo control visual servo control inverse kinematics obstacle avoidance hexapod robot Abstract The main purpose of this thesis is to design a fuzzy control for a hexapod robot based on visual servo control to avoid obstacle. The implementation of the motion control for the hexapod robot using the inverse kinematics (IK) and visual
recognition system is used to achieve the obstacle avoidance. The control structure is composed of three parts: image recognition, fuzzy control systems, and inverse kinematics for trajectory tracking and obstacle avoidance. First, the image processing is used to identify whether there are any obstacles in the front, and making it as a feedback to the control system. Then, the microcontroller will find out the rotation angles for each joint via IK to avoid obstacles.
For image recognition, we use OpenCV to process environment to the grayscale
and binarization, filter noise through erosion and dilation, and then fill all of the contours using Sobel edge detection, and finally calculate the area and compare with each other. It is regarded as an obstacle if the detected area is the biggest. We will construct a rule table based on the proportion of the size of the area to the actual distance between the obstacle and camera. Therefore, we can determine the actual distance to the obstacle by default trajectories.
In contrast to the most previous motion control design methods for legged robots based on trial and error by directly sending the angle commands to each servo in accordance with the mechanical structure, we construct the inverse kinematics and dynamics model to enable the servo control system using the inverse kinematics to significantly reduce the complexity of the motion control design.
Advisor Committee Wen-Shyong Yu - advisor
Chih-Lyang Hwang - co-chair
Min-Guo Her - co-chair
Files Date of Defense 2013-07-31 Date of Submission 2013-08-29