Design of a Quadruped Robot and its Inverse Kinematics

Abstract

Mobile robots have many abilities, of which the most unique one is the mobility. The terrain over which, these robots must be able to move is often uneven, slippery or muddy, which gives rise to many challenges, particularly stability. Two of the most common methods for robot mobility are wheels and legs. The necessity of legged robots is increasing day by day, as compared to the wheeled robots. Legged robots are more advantageous and versatile than wheeled robots, on uneven terrain such as military operations, remote locations, dangerous environments, excavation and construction works and medical applications. However, achieving the perfect locomotion and mobility of legged robots, on any type of terrain is the area of current research. This paper presents, design of a quadruped robot having four legs, but based on human leg structure. An attempt was also made, to perform inverse kinematic analysis on the design for validation. The paper also explains the procedure of designing a quadruped robot and the parameters involved in it.

Authors and Affiliations

Palivela Arun Kumar, Yeole Shivraj Narayan

Keywords

Related Articles

Numerical Analysis on Influence of Various Parameters and their Interactions on Drawability of Cylindrical Cups

Deep drawing is a complex process that is influenced by various parameters like tooling configurations, blank configurations, material properties, and forming conditions. Limit Drawing Ratio and limit strains are two par...

Optimisation of Fuel Consumption by Taguchi Method in Logistics Systems

Research studies on fuel consumption of logistics systems for developing countries is relatively less explored in par with developed countries. Day by day, the consumption of fossil fuels is increasing due to dense traff...

EVALUATION OF STANDARD TIME WITH THE APPLICATION OF RANK POSITIONAL WEIGHTED METHOD IN THE PRODUCTION LINE

Assembly line balancing is one of the major concern as far as a manufacturing plant is considered. The plant productivity solely depends on this parameter and hence balancing and figuring out the idle time in a productio...

Graph Based Classifier to Detect Malicious URL

Malicious attack is a major issue in cyberspace. The criminal obtains vital information like username, password, and Credit/Debit card numbers, from the victims through deception. Various detection solutions are proposed...

AN IDENTIFICATION OF THE BEST MIXTURE COMPOSITION FOR THE JOULE-THOMSON REFRIGERATOR OPERATING AT 90 K

In recent days researchers have been trying to operate Joule-Thomson refrigerators with mixed refrigerants instead of single refrigerant as operating fluid. Usage of mixtures in the place of single refrigerant is increas...

Download PDF file
  • EP ID EP240325
  • DOI -
  • Views 132
  • Downloads 0

How To Cite

Palivela Arun Kumar, Yeole Shivraj Narayan (2017). Design of a Quadruped Robot and its Inverse Kinematics. International Journal of Mechanical and Production Engineering Research and Development (IJMPERD ), 7(4), 241-252. https://europub.co.uk/articles/-A-240325