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The industrial pneumatic walking platform: The design, build and coding process of a walking machine

Arnaud, A. (2016) The industrial pneumatic walking platform: The design, build and coding process of a walking machine. Honours thesis, Murdoch University.

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Abstract

The main aim of the thesis is to study and replicate quadruped movement in the hopes of utilizing its biological behaviour to integrate in machinery and aid work undertaken in industrial environments. The thesis focuses on the design, build and programming of a quadruped walking platform for the main purpose of showcasing, industrial grade carrying purposes as well as a potential teaching tool. Inspired by the biological movements of quadruped animals, the machine must be able to efficiently move from one point to another with sufficient reactive control, while simultaneously carrying significant weight. The control of the overall machine will be done through a microcontroller, actuating different parts of the machine while sensing its current states.

The challenges faced during this thesis centred on the mimicking of biological behaviour and motion: Quadrupeds move around using a combination of synchronised leg movements and environmental sensory feedback. Replicating this behaviour proved to be difficult, even at a simpler scale.

Ideally the project must be able to accommodate the continuation of work by future students, by providing any additional appropriate documents.

Publication Type: Thesis (Honours)
Murdoch Affiliation: School of Engineering and Information Technology
Supervisor: Cole, Graeme
URI: http://researchrepository.murdoch.edu.au/id/eprint/36712
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