Design and Development of an Autonomous Quadruped Robot

摘要

Abstract This research paper contains the work done on the ‘ Design and development of an Autonomous quadruped robot ’ – a system engineered to complete tasks like carrying weaponry and materials for military applications. The primary aim of the project was to design a quadruped that works successfully in harsh conditions and irregular terrain were human intervention is impossible or hard. Initially, individual components of the design were designed and modifications were made according to the requirements. The development was carried out in five major steps including frame assignment, DH parameter analysis, Kinematic and dynamic analysis, Multibody simulation, Stability analysis and execution of gaits. The average time taken for the device to complete on cycle was found to be 10 seconds in crawl gait and around 8 seconds in trot gait. Further tests on the final device also directed a consistent results in its functionality and time taken for the quadruped to complete one gait cycle. As such, the performance of the quadruped is found to be successful and also open to further modification for better performance and varied usage requirements since the research on autonomous quadruped is at its early stages of development.