| Author | Jayaneththi, Jayaneththi Pathirannahalage Chandima |
| Note | Thesis (M. Eng.) -- Asian Institute of Technology, 2019 |
| Publisher | Asian Institute of Technology |
| Abstract | Due to the advancement in robotics, the legged robots has become a major research area in military and industrial because of its advance maneuverability and stability. The robots which are built using the concepts from the mother nature has become the survivors in the environment. The bio inspired robots are more stable and durable in rough terrains. The following thesis is based on developing 2 DOF four legged robot and control its motion using haptics. For the legged robots the most essential part is the gait. The gait allows the robot to move through the environment without loosing its stability. The localization and mapping are most important factors for mobile robots. The leg configuration of the robot is based on the four bar linkage. The motion of the robot is controlled using the two DC motors with control algorithms. An obstacle detection system is implemented to avoid the obstacles using limit switches. The haptics controlling algorithm is implemented with two load cells to control the motion of the robot with given force. |
| Year | 2019 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Abeykoon, A.M. Harsha S.;Keun, Song Weon |
| Scholarship Donor(s) | AIT Fellowship |