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Design and motion planning of quadruped robotic platform
Central Electronics Engineering Research Institute, New Dehli, India.
Högskolan i Gävle, Akademin för teknik och miljö, Avdelningen för elektronik, matematik och naturvetenskap, Elektronik.
2014 (Engelska)Ingår i: Mobile Service Robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific, 2014, s. 207-214Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

The 8 DOF quadruped robotic platform is designed and constructed for ground surveillance purpose. Designed model is simulated in physics environment by considering various physical parameters like weight of the robotic platform, torque of actuators, effect of collision. This paper also explains motion planning of a quadruped robotic platform by means of various walking patterns. Walking patterns are tested on different virtual terrains which helps to achieve reliable algorithm and modify robot as per dynamics. The agility and sustainability of robot is employed by biomimetic locomotion. Lateral leg insect is imitated by two DOF leg configuration, which enables basic motion of lifting and shifting. The basic prototype is realized by using eight servo actuators and it is tested on various surfaces having avoidable obstacles.

Ort, förlag, år, upplaga, sidor
World Scientific, 2014. s. 207-214
Nyckelord [en]
Actuators; Biomimetics; Mobile robots; Motion planning; Robotics; Robots; Sustainable development, Biomimetic locomotion; Designed models; Ground surveillance; Physical parameters; Robotic platforms; Servoactuator; Virtual terrain; Walking pattern, Robot programming
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:hig:diva-23297ISI: 000342693100026Scopus ID: 2-s2.0-85007288466ISBN: 978-981-4623-34-6 (tryckt)OAI: oai:DiVA.org:hig-23297DiVA, id: diva2:1064325
Konferens
17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014, 21-23 July 2014, Poznan, Poland
Tillgänglig från: 2017-01-12 Skapad: 2017-01-12 Senast uppdaterad: 2018-03-13Bibliografiskt granskad

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Virk, Gurvinder Singh

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