Modelling and Fabrication of Quadruped Robot Based on the Ojansen Mechanism by Using Matlab

Legged off-road vehicles exhibit better mobility while moving on rough terrain. Development of legged mechanisms represents a challenging problem and has attracted significant attention from both artists and engineers.The Theo Jansen mechanism is gaining widespread popularity among the legged robotics community due to its scalable design, energy, efficiency, low payload-to-machine-load ratio, bio-inspired locomotion, and deterministic foot trajectory. It bears artistic and mechanical merit for its ingenious simulation of walking legs from a simple rotary motion. In this paper, the model of four legged robot is made by using The oJansen kinematic link. the perform the dynamic modeling and analysis on a four–legged robot driven by asing leactuator and composed of The oJansen mechanism the projection is made by using MATLAB and linear motions are observed on the graph for the oJansen based quadruped robots.