Design and development of a quadruped shuffling mobile robot

摘要

Abstract Interest in creating legged locomotion has increased compared to wheeled robots since wheels, while easier to design and fabricate, are less effective when traveling across certain surfaces. Legged walking robots are mostly based on a quadrupedal living creature’s biological concepts, whether an insect or mammal. For a walking robot, sequences of motions are understood as ‘gaits’ to determine the robot’s mechanism. The proposed method is the creep gait, which is easy to fabricate and has allowed the algorithm’s proper user control. Meanwhile, the shuffling motion ensures the maintenance of the robot’s stability and vertical movement. Stability and gait-planning are also crucial in selecting the suitable quadruped mechanism, depending on the robot’s application. The result is a quadruped with the lowest risk of toppling and stable carrying capacity by combining the two gaits. The robot has a linear velocity of 1.09 cm/s.