Development Of 4-Legged Walking Robot And Movement Algorithm

Aminurrashid, Noordin and Mohd Azli, Salim and Mohd Hanif, Che Hasan and Mohd Razali, Mohamad Sapiee and Sulaiman, Sabikan and Zamani, Md Sani (2011) Development Of 4-Legged Walking Robot And Movement Algorithm. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

This project focused on designing and developing a 4-legged walking robot prototype. The robot can move forward according to a unique pattern of movement using three servo motors for each leg. Firstly, the design of this robot was draw using SolidWorks Software and then being fabricate using rapid prototyping machine. Then the structure of the body and leg was analyzed in order to find a correct balance and to make sure the servo motor was capable to move the robot. The prototype robot consists of servo motors, Li-Po batteries and Mini Maestro 18 servo controller as the robot’s brain. The experimental studies were carried out to get the correct gait algorithm for the robot to be able to move forward and avoid obstacles. Then the robot accuracy and repeatability had been tested. This robot was able to move forward, detect and avoid obstacles without falling and able to move at different surface or different terrain.

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