Three-legged omni-directional hopping robot

• Main Authors: Manalo, Martin Klarence V., Micu, Maxine Claryze C., Montrias, Jona Liza M., Palo, Giecel T.
• Format: text
• Language: English
• Published: Animo Repository 2013
• Subjects: Robots > Control systems; Robots > Motion; Communication; Electrical and Electronics
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/10589
• Institution: De La Salle University

The thesis presents a three-legged robot that uses hopping as means of locomotion. The robot is mechanically designed to be self-stabilizing in order to maintain its balance after landing. The developed three-legged hopping robot is radio controlled, allowing the user to indicate the direction of hop. The method to control the system is designed by using Arduino to control the hopping force of each leg individually. In this method, a chosen leg is set to provide a different output force from the two other legs in order to enable the robot to move to the specified direction. Furthermore, the robot is capable of climbing down a custom-made stairs which demonstrates its stability.