Design of a Quadruped Robot and its Inverse Kinematics
Journal Title: International Journal of Mechanical and Production Engineering Research and Development (IJMPERD ) - Year 2017, Vol 7, Issue 4
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
- EP ID EP240325
- DOI -
- Views 116
- Downloads 0
Effective Time Domain Features for Identification of Bearing Fault using LDA and NB Classifiers
Recently, the mechanical fault detection of an induction motor (IM) from vibration signals using pattern recognition has proven to be an effective method. This paper has studied for the first time statistical time domain...
Design and Analysis of Wheel Head in Cutter and Tool Grinder
The work is entirely about “Design and Analysis of Wheel Head in Cutter and Tool Grinding Machine “. Wheel Head is a major part of a grinding machine, which consists of Various sectioned components, namely the wheel head...
An Innovative Design of Air Filter in Diesel Engines of the Tractors
The escape of small particles in the IC engine combustion chamber will cause wear of the cylinders and pistons and that led to reduce the engine performance and its lifetime service. In this study the air filter system w...
Experimental Investigation of Solar Dryer using Phase Change Material
The sun is the most important source of heat and light in the universe and also one of the major renewable sources. In many countries, they are utilizing solar energy in the agricultural area to preserve vegetables, frui...
A Design of wide Band Antenna for Automotive Application
This paper proposes a wide band fix radio wire for vehicle correspondence. The plan prerequisites are to meet the frequencies of 3.5-5.5 GHz groups. The proposed reception apparatus comprises of a half circle fix implant...