Research On The Communication And Orientation With Related Technology For Amphibious Multi-legged Robot

The research is supported by project of 'Biologically Inspired Crab-liked Amphibious Robot Study' which is funded by NSFC(National Natural Seience Foundation of China). In order to establish a small-sized mobile robot which is highly adapt to complex terrain, highly reliable and capable of moving in amphibious environment, the researches on mechanical structure, control system based on DSP, amphibious communication and position system, position algorithm and related hardware design are presented in the dissertation. These studies are presented as follows.Firstly, this paper analyses the research of multi-legged bionic robots at home and aboard, which primarily focuses on the mechanical design. According to the work environment, the DOFs of the robot are designed appropriately based on the theory of bionic design. The mechanical structure is made out which ensures the transformable gesture, strong underwater adaptability and compact motor arrangement of the robot.Considering its amphibious working environment, the general communication scheme of the amphibious multi-legged robot is provided, in which terrestrial and submarine communication technologies are discussed. After analyzing the merits and drawbacks of all kinds of terrestrial and submarine communication technologies, an appropriate communication system is provided for the robot as well as corresponding algorithms.Combining the features of the robot and multilevel hierarchical control theory, the control system including communication module based on TMS320F2812, hardware and software design of CAN bus and other modules is designed.In addition, the position system integrating absolute position based on GPS and relative position based on code disks is suggested. Furthermore, underwater acoustic communication technology is studied, suggesting related algorithm for GPS signal process and acoustic location. Also the hardware and software are studied.