Department of Computer Science and Electrical Engineering
Abstract
This thesis investigates the work on Thecodont - The Biped
Walker for 1999. The aim was to create a method of walking that
is adaptive and scalable in the practical world. Combined low
level, and high level control is presented, simulated and
demonstrated on a real electromechanical, position controlled,
biped robot.
Beginning in 1992 the project has moved from the original
mechanical design and hardware implementation to be overhauled
four times by successive project participants. The redesign has
included mechanical modifications, rebuilding of the motor drive
circuitry and redesign of the Control System. This year the
project once again overhauls parts of the robot touches on each
of these areas.
The significant achievements of the project included the
implementation of a control system based on the Motorolla 68332
with 256 Kilobytes of RAM and FLASH as peripherals. It also
included the porting and redesign of all aspects of the embedded
systems code, including the communication system, power delivery
system and servomotor control loop. A graphical user interface
was also implemented under the Microsoft Windows Environment
using serial communication. This system provides real time
information about the state of all system on the biped.
The final result was a robot that could accurately control each
of it 12 links and display information regarding their location.
It also demonstrated the first stages of a dynamic walk based on
the momentum of hip movement.
Future work on the project is expected to delve into higher level
of perception using sonar and acceleration feedback. Also area
such as Zero Moment Control should be the high order
consideration of future participants.
Complete thesis:
thesis.pdf
Conference Paper:
Conference_Paper.pdf
Additional material:
code sch
images