| Author | Sophon Somlor |
| Call Number | AIT Thesis no.ISE-12-08 |
| Subject(s) | Robots--Control systems
|
| 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-12-08 |
| Abstract | A single-legged hopping robot is a challenging research topic because the robot itself
needed to jump up in the air in order to balance and also moving around. The
mechanical structure of the robot needed to be lightweight and compact to make it easy
to jump and balance yet the mechanism also needed to be good enough to make the
robot able to move and jump as it should be. There are many hopping robots invented
until now with many kinds of techniques and designs. The robot created in this thesis
aim to be able to jump in 3D space with all of its equipment attached on its body. The
control algorithm used here is based on a simple algorithm that had been used once and
proved that it is able to balance the robot. A simple PIO controller is used as the
position control for the sub system of the robot. The experiments of the created singlelegged
hopping robot are presented and discussed. |
| Keyword | hopping robot; natural frequency; forward running speed control; body
orientation control; hopping height control |
| Year | 2012 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-12-08 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Other Field of Studies (No Department) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;
Bohez, Erik, L.J. |
| Scholarship Donor(s) | Royal Thai Government;AIT Fellowship |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2012 |