Design of a Quadruped Robot and its Inverse Kinematics

Abstract

Mobile robots have many abilities, of which the most unique one is the mobility. The terrain over which, these robots must be able to move is often uneven, slippery or muddy, which gives rise to many challenges, particularly stability. Two of the most common methods for robot mobility are wheels and legs. The necessity of legged robots is increasing day by day, as compared to the wheeled robots. Legged robots are more advantageous and versatile than wheeled robots, on uneven terrain such as military operations, remote locations, dangerous environments, excavation and construction works and medical applications. However, achieving the perfect locomotion and mobility of legged robots, on any type of terrain is the area of current research. This paper presents, design of a quadruped robot having four legs, but based on human leg structure. An attempt was also made, to perform inverse kinematic analysis on the design for validation. The paper also explains the procedure of designing a quadruped robot and the parameters involved in it.