DESIGN OF QUADRUPED ROBOT

MANIKANDAN G, Assistant Professor, [email protected]

DHANASEKAR J, Assistant Professor, [email protected]
VIJAYA V. G , Assistant Professor, [email protected]
Department of Mechatronics
Bharath Institute of Higher Education and Research, Chennai

ABSTRACT The gait design and control methods for

quadruped robots have been analyzed for several
Quadruped is a form of terrestrial locomotion decades. The structured planning based on
in animals using four limbs or legs. An animal or mathematical analysis through inverse and
machine that typically moves in a four leg forward kinematics equations. The quadruped
movement manner is known as a quadruped, its robots gaits are categorized into Static gaits and
meaning "four feet". The majority of quadrupeds dynamical gaits. Under the dynamical gaits, Trot
are vertebrate animals, including mammals such is the most power efficient gait, which decouples
as farm animals, dogs and cats, and reptiles, like pairs of legs and makes control easier. And the
lizards. research of quadruped trot will lead to
This quadruped robot project intends to give understanding other dynamical gaits, such as
an in depth view of the technical and pacing and galloping.
programming aspects in designing a walking So, the focus of this paper is on trotting
robot. This look like a four pedal robot. The gait production method and simple software
robot will walk and run depends on the speed of control approach of quadruped robots. As the
the motor. The quadruped robot walking gaits are most available locomotion pattern, the trotting
developed manually in c-language and pattern is generated so that the quadruped robot
compiled in Arduino IDE. The parts of legs are moves with a fast momentum and stable body
known as coxa , femur and tibia approach.

Keywords: Quadruped Robot, Coxa, Femur, 1.1 OBJECTIVE

Tibia, servo Mechanism
The design of the quadruped robot body is
I. INTRODUCTION done in CREO. The design of body, hips, and leg
are done keeping in mind the size of the
Approximately half of the earths land
controllers, battery and the servo motor size.
surface is unreachable to either wheeled or
tracked robots. Otherwise legged animals can These components were designed
travel over most of earths terrain, the quadruped considering the availability of raw materials and
robots are optimal for a multi-legged robots, ease of machining operation, and also giving top
because of the least difficult mechanical design consideration in keeping the overall weight low.
and a recovered stability of configuration. Reducing the weight increase the
maneuverability of the robot and also keeps the
power consumption low, this is very important in
determining the endurance range of robot which 2.1 FLOW DIAGRAM
are crucial in practical operation of the robot. The quadruped robot works by employing
1.3 APPLICATIONS control softwares to manipulate each leg and
balancing the body with three legs. The working
The control software for the quadruped robot
sequence of this robot is shown in fig 3.1flow
is in primitive stage, the potential application of
quadruped are diagram
It has Potential to access nearly any land
mass.
Easy travel on terrain regions.
Research on development of gaits.

II. METHODOLOGY

Once the system is powered on, the

Arduino controller controls the angle of servo
motors to the specified initial leg position. The
stability of the body is related to the regularity of
the legs being lifted and placed, the quicker, the
less unstable you will find it is. Of course its has
something to do with the design of the feet as Fig 3.1 Flow diagram
well, if the feet has a large touching area with the
ground you will find it stay better while the other 2.2 BLOCK DIAGRAM
two legs are lifted.
This block diagram will gives the details
A legged robot can overcome obstacles about the robot various parts. In this the
that are at a lower level than the highest ground controller will connected with the 8 servo motors
clearance, just by stepping on them. On the other to control the position of the each servo motor to
hand, a wheeled robot can only defeat obstacles perform the movement of the robot. The
with heights of up to half of the wheel radius. the ultrasonic sensor connected with controlled to
quadruped robot can be actuated by means of detect the obstacle in the path of movement. The
electrical or hydraulic drives. The quadruped fig 3.2 show the block diagram of the quadruped
robot has static stability. Robots uses gaits for the robot
locomotion, a gait is nothing but simply the
pattern of walking. There are mainly two types of
gaits which are used in a variety of quadruped
and biped robots.
 3.1 Coxa

Coxa is the hip part of the robot and it supports

the leg part and the body.it has vital importance
in balancing the robot while the robot is in
motion.

3.2 Femur

This connecting rod or piece which connects the

body to the leg. In animals it is the thigh bone
which supports the lower part knee. The length
of the femur determines the length of the walk.
Fig 3.2 Block Diagram open the container for some time limit based on
III. MECHANICAL DESIGN the user limit.

The major design was done in creo for

the approximation of the actual mechanical parts
location in robot. The design will give the
balancing of the robot with respect to the body
dynamics. The body parts of the quadruped robot
is made using acrylic sheet for reduced weight
and better response of servo motor. Design of the
quadruped robot shown in fig 3.1

Fig 3.2 Femur

3.3 Tibia

It is the part of leg which extends to the ground

from the knee, tibia in this quadruped also
support servo motor which are used in actuation
of robot. While the creep gait is active the
diagonal legs creates a suspension in order to
maintain stability.

Fig 3.1 quadruped Robot Design

 high capacity to drive eight servo motors which
are highly loaded at a given point of time.

Fig 3.3 Tibia

3.1.4. Frame

The frame is designed by keeping in mind

Fig 4.1 battery
the length of femur and tibia. So that the body
can be maintained in balanced position. The So I chose lithium ion battery which could be
weight distribution on body is uniformly mounded to robot easily as compared to lead-
distributed, so that the body can maintain balance acid batteries. Also lithium ion batteries can be
by the three legs maintaining contact on ground. recharged quickly than lead acid batteries. A 4v
4000mah battery is used to supply power to
servos.

4.2 Servo motor

A typical servo consists of a small electric motor
driving a train of reduction gears.
A potentiometer is connected to the output shaft.
Some simple electronics provide a closed-
loop servomechanism.

Fig 3.4 Frame

IV. ELECTRONIC DESIGN

The electronics Design will give the
details about the controller and circuit for the 8
servo motor along with controller.

4.1 Power System:

In walking type robots the selection of the power
source should be in such a way that the weight of
battery should be less, and also it should contain
Fig 4.2 Internal mechanism of servo motor
 [3] Tarokh, M., Lee, M.: Kinematics Modeling
The position of the output, measured by the of Multi-legged Robots Walking on Rough
potentiometer, is continually compared to the Terrain. In: Second International Conference on
commanded position from the control (i.e., the Future Generation Communication and
radio control). Any difference gives rise to Networking Symposia, pp. 1316 (2008)
an error signal in the appropriate direction, which [4] Mahapatra, A., Roy, S.S.: Computer Aided
drives the electric motor either forwards or Dynamic Simulation of Six-Legged Robot.
backwards, and moving the output shaft to the International Journal of Recent Trends in
commanded position. When the servo reaches Engineering 2(2) (November 2009)
this position, the error signal reduces and then
becomes zero, at which point the servo stops [5] Roy, S.S., Pratihar, D.K.: Effects of turning
moving. gait parameters on energy consumption and
stability of a six-legged walking robot. Robotics
and Autonomous Systems 60, 7282 (2012)
V. RESULT&CONCLUSION
[6] Niwa, T., Inagaki, S., Suzuki, T.: Locomotion
The design of quadruped robot has enabled to Control of Multi-Legged Robot based on Follow-
build the quadruped robot with lower error , also the-Contact-Point Gait. In: ICROS-SICE
trial and error method is used to optimise the International Joint Conference, pp. 22472253
dimensions of the robot. The designed model of (2009)
quadruped robot shown in fig 5.1

Fig 5.1 Designed model of quadruped robot

REFERENCES:

[1] De Santos, P.G., Garcia, E., Estremera, J.:

An Introduction to the Control of Four-legged
Robots. Springer (2006)

[2] Jazar, R.N.: Theory of Applied Robotics.

Springer (2010)