An automated Field Programmable Gate Arrays (FPGA)-based insect robot

Date

5-2008

Degree

Bachelor of Science in Applied Physics

College

College of Arts and Sciences (CAS)

Adviser/Committee Chair

Nelio C. Altoveros

Abstract

A six-legged Field Programmable Gate Arrays (FPGA)-based insect robot was constructed and developed. The system design was divided into several phases which include the hardware design and fabrication, the software design and the integration and testing of the hardware and software components. The system consisted of an insect robot platform that used a total of 18 servo motors (three motors for each leg) for locomotion, ultrasonic ranging sensor module and a controller using Xilinx® Spartan 3 FPGA board. The movement of the insect robot was implemented using VHDL codes. A combination of ripple gait and wave gait was used. The insect robot initially moves to standing position when it is turned on then proceeds to a forward motion. The insect robot is programmed to continue moving forward unless an obstacle is detected. The insect robot avoids an obstacle by turning to the right. The ultrasonic sensor angle range detection was found to decrease as the set distance range is increased. The tests performed for the ultrasonic sensor was only done in a horizontal orientation. Moreover, detection is accurate only up to three feet. The insect robot performed walking forward motion successfully with a speed of 8 cm/sec. There were some errors when the insect robot turns to the right due to the excess weight and the limitation of the servo motors. The study intended to help future robotics researchers on how to manipulate a six-legged robot using VHDL codes with Xilinx® Spartan 3 FPGA board as the controller board.

Language

English

Location

UPLB Main Library Special Collections Section (USCS)

Call Number

Thesis

Document Type

Thesis

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