Design and motion planning of quadruped robotic platform
2014 (English)In: Mobile Service Robotics: Proceedings of the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, World Scientific, 2014, 207-214 p.Conference paper (Refereed)
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.
Place, publisher, year, edition, pages
World Scientific, 2014. 207-214 p.
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
IdentifiersURN: urn:nbn:se:hig:diva-23297ScopusID: 2-s2.0-85007288466ISBN: 978-981462334-6 OAI: oai:DiVA.org:hig-23297DiVA: diva2:1064325
17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014, 21-23 July 2014, Poznan, Poland