Embedded System for Quadruped Robot in Mammalian Configuration

摘要

The legged robots have a better performance than the wheeled and tracked mobile robots for some applications. The development of quadruped robots (QRs) has increased in the last years mainly with the mammalian configuration due to the velocity of displacement and for the implementation of new control strategies that improve its stability. However, it is necessary to integrate embedded systems into the QR design to increase the overall performance. The proposed research presents the development of an integrated system composed of a QR in mammalian configuration and an embedded system with a concurrent methodology that ensures harmonic integration. The system was tested under real environments, on flat, sandy, and rocky terrains. The experimental results were analyzed with Kinovea software, obtaining a maximum velocity in the flat terrain with 0.43 and 0.2 m/s in sandy terrain, and 0.345 m/s in rocky. Finally, an embedded system is a factor key to improving the QR’s performance because it allows for modification of the behavior through the implementation of unconventional control strategies, to make the robot smaller, and it is possible to integrate tools of IoT that are necessary for the new applications.