Design of Quadruped Inspection Robot for Substation

Compliant Leg Design for a Quadruped Robot

malian animals, i.e. that of a cat. It was also influenced by the spring-mass model representation [2]. Compliant prismatic legs show an intrinsic robustness for their angle of attack [2], they have a stability region. If the leg design is changed into a two segmented leg with a specific linear torsional spring, the leg stiffness kleg becomes nonlinear (Fig. 2(b) blue line), similar to that of ...

Effect of Leg Design on Locomotion Stability for Quadruped Robot

A Novel Design of a Quadruped Robot for Research Purposes

This paper presents the design of a novel quadruped robot. The proposed design is characterized by a simple, modular design, and easy interfacing capabilities. The robot is built mostly from off-the-shelf components. The design includes four 3-DOF legs, the robot body and its electronics. The proposed robot is able to traverse rough terrain while carrying additional payloads. Such payloads can ...

Design for Several Hydraulic Parameters of a Quadruped Robot

For a quadruped robot with 12 active joints driven by linear hydraulic actuators, some important parameters, such as the oil flow of the hydraulic system and the needed maximum output force of each actuator, are hard to calculate precisely with kinematics and dynamics equations. The oil flow is mainly determined by the walking speed of the quadruped robot, but also influenced by the stride freq...

Fuzzy Controller Design for Quadruped Robot Posture Control

In this paper, motion patterns of a giant entertainment quadruped robot’s head, body and tail parts are analyzed and extracted. Then, a fuzzy controller is designed in order to obtain life-like motion. Motion data are derived using 3D animation during robot’s walking and an organization mechanism is produced to obtain this kind of data. This paper introduces a data extraction method using a 3D ...