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URN etd-0911115-140007 Statistics This thesis had been viewed 1418 times. Download 452 times. Author Min-da Chen Author's Email Address No Public. Department Electrical Engineering Year 2014 Semester 2 Degree Master Type of Document Master's Thesis Language English Page Count 57 Title VISUAL SERVO PATH TRACKING AND OBSTACLE AVOIDANCE FOR THE HEXAPOD ROBOT Keyword hexapod robot inverse kinematics visual servo control obstacle avoidance path tracking path tracking obstacle avoidance visual servo control inverse kinematics hexapod robot Abstract This thesis proposes a visual following/avoidance servo control system for hexapod robots.
The control system consists of two parts: visual system and servo control system, where the servo control system comprises of proportional fuzzy control and coordinate transformation with kinematics and inverse kinematics.
The visual system captures the images from environment and then recognize if target/obstacle exists.
In the image recognition, we use OpenCV to make serial motion pictures as grayscale and binarization and calculate the ratio of the object/obstacle area.
By using the ratio of the object area in the image, we can determine whether it is an obstacle or not, as well as the actual distance by calculation of the corresponding object area changing.
After image recognition processing to identify the distance and area of the object or obstacle ahead, the servo control system for hexapod robot with inverse kinematics calculations is proposed for trajectory tracking to follow the specified object and obstacle avoidance to continue approaching specified trajectory.
Finally, experiments for the hexapod robot are used to show the validation and effectiveness of the proposed servo control scheme.
Advisor Committee Wen-shyong Yu - advisor
Chiang-Cheng Chiang - co-chair
Files Date of Defense 2015-07-30 Date of Submission 2015-09-11