Microcontroller Based Walking Robot
نویسنده
چکیده
In this paper, micro controller is used to control the thermal states of Flexinol wires which actuating legs of the insect-like legged robot. The design emphasizes mechanical simplicity as well as power and computational autonomy for lightweight walking robot applications. The kinematics workspace characteristics has been applied on to a test rig to examine and improve the motion feasibility with the consideration of strike length and height the leg can be lifted. Simulations and experiments show that the walking robot can achieve statically stable walking and turning with simple open-loop control strategies.
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