A ROBOT DESIGNED FOR WALKING AND CLIMBING BASED ON ABSTRACTED COCKROACH LOCOMOTION MECHANISMS

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" A ROBOT DESIGNED FOR WALKING AND CLIMBING BASED ON ABSTRACTED COCKROACH LOCOMOTION MECHANISMS "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	149701
Doc. No	:	ET21493
Main Entry	:	TERENCE WEI
Title Proper	:	A ROBOT DESIGNED FOR WALKING AND CLIMBING BASED ON ABSTRACTED COCKROACH LOCOMOTION MECHANISMS
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	MechaRoach II is a hexapod robot that can walk on horizontal and inclined surfaces, andwas designed to test strategies for transitioning between the two. The locomotionprinciples that allow cockroaches to make these transitions have been studied andmechanisms using abstractions of those principles have been developed for the robot.These principles included usage of features of leg morphology, leg compliance, gaitadaptation, and body flexion. MechaRoach II has a single drive motor, a motor forsteering, and a motor to actuate a body flexion joint. The single drive motor powers alltested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL44665.pdf
Title and statement of responsibility and	:	A ROBOT DESIGNED FOR WALKING AND CLIMBING BASED ON ABSTRACTED COCKROACH LOCOMOTION MECHANISMS [Thesis]