Quadruped autonomous mobile robot

• Main Authors: Abesamis, Jose Jonas, Barrido, Lee Derrick, Capones, Jennifer, Ching, Frances Margaret, Chua, Samuel
• Format: text
• Language: English
• Published: Animo Repository 2002
• Subjects: Autonomous robots; Robots > Control systems; Robots > Programming; Artificial intelligence; Mobile robots; Walking
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/14567
• Institution: De La Salle University

Through the years, research on mobile robots has proven that legged robots are more promising as compared to wheeled robots. Legged robots enjoy distinct advantages in adapting to a variety of ground terrains, maneuvering in constrained spaces and for general mobility in unstructured environments. Because of the potential that legged robots possess, applications of these are being developed and are taken advantage of by a wide variety of fields. The objective of this thesis is to develop and test a four-legged autonomous robot. It is capable of walking forward, backward, as well as turn left and right. The walking motions are based on different walking patterns or popularly known as gaits namely: Forward, Speed, Tilt and Crab Gait. Each leg requires 3 degrees of freedom needed for the lifting, sweeping and leg extension of the mobile robot. The microcontroller controls the movement of the servomotors. The robot can be controlled from a host computer by the use of RF communication. An RF transmitter was connected to the host computer while a receiver was placed on-board the robot, instructions can then be sent from the computer to the robot. The robot is designed to be a stable platform for possible improvements to its current capabilities. Wireless communications and obstacle detection systems are examples of enhancements implemented in the robot.