Implementation of balance control on terrain quadruped traversal

• Main Authors: Del Rosario, Jay Robert B., Falcon, Christian S., Pasion, Jenica Paulyn, Tamonte, Benjamin Emmanuel F.
• Format: text
• Published: Animo Repository 2016
• Subjects: Robots—Control systems; Electrical and Electronics; Systems and Communications
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/1300; https://animorepository.dlsu.edu.ph/context/faculty_research/article/2299/type/native/viewcontent
• 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. Balance control is achieved by shifting the quadruped's center of gravity using a proposed gait sequence and accelerometer sensor reading for tilt compensation while the development of the android application is through the use of Android Eclipse SDK. This study provided a simple yet effective approach in balance control. The implementation maintained the deviation in acceleration in the 1.5 m/s2. Data and results gathered are presented. © 2015 IEEE.