Development of a multi terrain HEXA-BOT | |
| Author | Bowattegedara, Shehan Dhiluka |
| Call Number | AIT Caps Proj no.ME-15-42 |
| Subject(s) | Mobile robots Robots--Control systems |
| Note | A capstone project report submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-15-42 |
| Abstract | Hexapedal running robots are a central platform for analysis in biologically-inspired locomotion over the last decade. These machines aim to capture the outstanding levels of stability and energy efficiency achieved by natural hexapods like cockroaches, whereas maintaining simplicity through one degree-of-freedom per leg propulsion and high-level open-loop mechanical phenomenon. Mobile robots have several applications stretching from home recreation and toys, through military applications, and search and rescue missions wherever they keep humans out of harm’s manner, to the exploration of different planets. Walking in insects and most six-legged robots needs coincidental management of up to eighteen joints. Moreover, the amount of joints that are automatically coupled via body and ground varies from one moment to following, and external conditions like friction, compliance and slope of the substrate are usually unpredictable. Thus, walking behavior needs accommodative, context-dependent management of the many degrees of freedom. As a consequence, modeling three-legged locomotion addresses several aspects of any motor behavior normally. HEXA-BOT is an obstacle driven robot potential to run in several of the terrains wherever the drawbacks of victimization wheels and a couple of legs are conquered. it’s the potential of exploring the environments that human interfere is restricted. The legs are shaped to be in semicircular manner so that the pushing movement from each leg can be created which gives the forward push. The basic element in building of the robot comes from the motion of the cockroach. The aim of this project is to develop a robot which has potential to walk in many of the terrains where the drawbacks of using wheels and two legs are conquered. |
| Year | 2015 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-15-42 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Bohez, Erik L. J.; |
| Examination Committee(s) | Lin, Than;Manukid Parnichkun; |
| Degree | Capstone Project (M.Eng.) - Asian Institute of Technology, 2015 |