Development of a single-legged hopping robot using two-axis reaction wheels | |
| Author | Satianpong Somjit |
| Call Number | AIT Thesis no.ISE-12-64 |
| Subject(s) | Robots--Design and construction Wheels |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-12-64 |
| Abstract | The balancing control is t he challenge of th e single legged hopping robot . There are many techniques to balance the single legged hopping robot. In this thesis, the reaction wheel is used to balance the single legged hopping robot. This technique is used in roll and pitch directions. For the hopping mechnism, DC motor and clutch are the actuator in this mechanism. String and belt is used to transfer force to motion for driving the hopping mechanism . In the control section, PID and LQR controller is used to control the balancing of the robot. LQR controller can reject the disturba nce better than PID controller. From the result of the experiment, the single legged hopping robot can balance in two direction and can jump height 3 - 4 cm. |
| Year | 2012 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-12-64 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Bohez, Erik L.J. |
| Scholarship Donor(s) | RTG Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2012 |