Implementation of balance control on quadruped terrain traversal

• Main Authors: Falcon, Christian Danielle S., Pasion, Jenica Paulyn J., Tamonte, Benjamin Emmanuel F.
• Format: text
• Language: English
• Published: Animo Repository 2014
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/12174
• Institution: De La Salle University

Implementation of balance control and development of an android application based remote control for a three (3) Degrees of Freedom quadruped robot is proposed. The focus of this study is to maintain the robot’s steady horizontal movement while traversing over terrains having different heights without falling. Balance control is achieved by shifting the quadruped’s center of gravity using a proposed gait sequence and accelerometer sensor reading for tilt compensation. The development of the Android application is through the use of Android Eclipse phone and the robot. This study provided a simple yet effective approach in balance control. The implementation maintained the deviation in acceleration in the 1.5 m/s2. The results shows that the implementation of balance control is successful by maintaining the steady horizontal movement in an 180˚ manner with respect to the normal ground level.