[size=150]There has been a request for this file. so here it is…![/size]
This robot consists of four legs, four wheels and body. Each leg has three joints with two directions, and each wheel rotates in the CW and CCW directions. The modeling of animal motion is based on kinematics. The motion has two modes: legged mode and wheeled mode. At legged mode, this robot can walk as Komodo lizard. The motion at legged mode is controlled as animal-like as possible. At wheeled mode, this robot is controlled to drive as a car and softly moves with non-slip in flat plane. The control system is built up with DSP TMS320F2812 module.
I will say i never Build, designed, or programmed this robot.
i have spoken with it’s creator, and he allowed me to have a look at the featured document and also gave me some insight to robotics.
i believe it to be manual control up to the point where it stands before the box (step) then sensors detact the body alinement in relation to the box. using it data it posistions its self so its line up. then its put into a climb sequence,
once its completed the climb seq its switched back into manual!
it was emailed to me by one of the students who designed it.
i asked if it was ok for me to host it for viewing, and it was ok, so i hope it helps you in future developments!
