Implementation of balance control on quadruped terrain traversal
Date of Publication
2014
Document Type
Bachelor's Thesis
Degree Name
Bachelor of Science in Computer Engineering
College
Gokongwei College of Engineering
Department/Unit
Electronics and Communications Engineering
Thesis Adviser
Jay Robert B. Del Rosario
Defense Panel Chair
Edwin Sybingco
Defense Panel Member
Elmer R. Magsino
Carlo Noel E. Ochotorena
Abstract/Summary
Implementation of balance control and development of an android application based remote control for a three (3) Degrees of Freedom quadruped robot is proposed. The focus of this study is to maintain the robot’s steady horizontal movement while traversing over terrains having different heights without falling. Balance control is achieved by shifting the quadruped’s center of gravity using a proposed gait sequence and accelerometer sensor reading for tilt compensation. The development of the Android application is through the use of Android Eclipse phone and the robot. This study provided a simple yet effective approach in balance control. The implementation maintained the deviation in acceleration in the 1.5 m/s2. The results shows that the implementation of balance control is successful by maintaining the steady horizontal movement in an 180˚ manner with respect to the normal ground level.
Abstract Format
html
Language
English
Format
Accession Number
TU18766
Shelf Location
Archives, The Learning Commons, 12F, Henry Sy Sr. Hall
Physical Description
160 leaves : illustrations (some colored) ; 28 cm.
Recommended Citation
Falcon, C. S., Pasion, J. J., & Tamonte, B. F. (2014). Implementation of balance control on quadruped terrain traversal. Retrieved from https://animorepository.dlsu.edu.ph/etd_bachelors/12174
