Publication: Path Follower Quadrupedal Robot
Date
2020-02
Authors
Misbah Abd Elrahim Tah Elsir
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
Quadruped Robot is a four-legged robot that has the ability to perform many tasks, including walking and moving on flat ground as well as its ability to walk on rough terrain. This robot is based on simulating animals or four-legged insects by imitating the movements that these animals make. The most popular movements this robot uses to move are: walking, running, and jogging with jumping. The walking movement that was implemented in this paper is to move the legs one after the other during a certain period of time and after the leg has reached the appropriate place another leg begins to move again. This rhythm is used in the movement in order to ensure that three legs remain attached to the ground to achieve stability during the raised leg's travel period. During the process of raising one of the legs, a resulting triangle will consist of projection the points of fixing the rest of the three legs with the centre of the robot on the ground. The mission of this robot is to stay stable during these movements, so in this paper also the movement of the robot has been analysed with regard to walking (Stability Margins) needs to be analysed by calculating the Stability margin and then calculating the special kinematic equations to obtain the position of the leg tip on the ground necessary to achieve the slow stability (Creeping Gait) of the robot while walking. Then, the results necessary to achieve this stability were obtained through the legs of the legs on the ground.
Description
FYP 2 SEM 2 2019/2020
Keywords
Quadrupedal , Kenamatics , Robot