Publication: Rough surface legged robot
Loading...
Date
2024-07
Authors
Teoh, Tong Wei
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
The most prominent characteristic of a legged robot is having legs that mimic mammals or insects as its locomotion instead of wheels or propellers. Although legs are more complex to build and more expensive than wheels, legs have superior manoeuvrability across rough surface in terms of speed, making legged robots a viable alternative to wheeled robots in applications involving rough surface such as natural habitat and natural disaster site. The main challenge of designing a legged robot is to determine the suitable sequence of leg articulations to adapt to the rough surface. The primary objective of this project is to design and test a rough surface legged robot that moves with a common move cycle that is universally adaptable to different types of rough surface. This project set up an experiment to test the speed of the rough surface legged robot across five different surfaces of different roughness using two different sequences of leg articulations. The experiment concluded that the sequence of leg articulations with large range of movement is the most adaptable to different surfaces of different roughness. The experiment also concluded that the rough surface legged robot moved faster on rough surface than on smooth surface and has the most consistent moving speed on surface with evenly distributed roughness.