Design and fabrication of Bioinspired Quadruped Mesh Climbing Robot (MCR) and determining stability of MCR using Edge Impulse software

摘要

The field Robotics has evolved a drastic development in this new technology era. Particularly considering the climbing robots which can be used for many applications in industries like performing nondestructive testing, painting, servicing, surveying etc. These climbing robots are also used on climbing rocks and exploring the possibility of existence of extraterrestrial in other planets like MARS, JUPITER etc. The two important features which has to be considered while designing a wall climbing robot are locomotive types and adhesive mechanism. Many researchers have proposed their own design either by focusing on locomotive mechanism or by focusing on adhesive mechanism. In this paper an attempt is made to design a bioinspired quadruped mesh climbing robot using Coppelia Sim and verifying the simulation result with respect to fabricated hardware testing result. The performance of the MCR is measured with respect to the time taken to climb the particular height. The various possible gait of the quadruped with four step signals are considered and their stability is studied with the help of Edge impulse Software where the motion of the MCR is captured with respect to x, y and z axis.