The Hopping Robot With One Leg

Mohd Faizul Shazrin , Shukor (2007) The Hopping Robot With One Leg. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The control of dynamically stable legged locomotion has made great strides in the past decade. Usually powerful hydraulic actuators are harnessed for control of legged robot. In this report, focus on a planar one-legged hopper or leg Hopping Robot with one leg which is electrically actuated. This type of actuation technology is clean, safe, and cheap, suitable for indoor use and autonomous robot. However, because DC motors (servo motor) have much smaller torque/mass ratio than hydraulic actuator. The one leg Hopping Robot with was designed and constructed, and it is used the PIC 16F877 A microcontroller to control the servo motor coupled with spring or legged. The legged of The Hopping Robot used spring retracted to store energy in leg compression and released the energy. The cycle repeats to make it bounce. The Programming Language C is achieved through mikroC software and download to the microcontroller. Special consideration must be paid to design and control of the Hopping Robot.

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