Publication: Gait planning and stability control of a quadruped robot
Date
2021-07-01
Authors
Mahendran, Kunaseelan
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Abstract
In modern-day, legged robots are highly researched for several reasons, such as military use and rescue purpose. The aim of this project is to design an autonomous quadruped robot with linkage mechanism that can keep moving in the desired direction by using Inertial Measurement Unit (IMU) control and close loop platform detection where the robot can decide either stay or continue to move depending on the platform in front. The accelerometer and gyroscope sensor used as the sensor of the walking robot and servomotor used as its actuator. As follow the closed-loop mechatronic system design, the robot should receive the feedback signal from the gyroscope sensor and then the servomotor as the actuator will take action based on the feedback. Platform detection achieved by mounting ultrasonic sensor at in the front of robot. The main disadvantages of walking robot are relatively slow and high-energy consumption. Recent years developed quadruped robots are mimicking different kind of animals. Bio-inspired mechanisms are helping to improve the overall performance. The implementations have reduced energy consumption, improve stability and wider range of locomotion.