Quadruped autonomous mobile robot

Date of Publication

2002

Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Manufacturing Engineering and Management

College

Gokongwei College of Engineering

Department/Unit

Manufacturing Engineering and Management

Thesis Adviser

Elmer Jose P. Dadios

Defense Panel Chair

Lord Kenneth M. Pinpin

Defense Panel Member

Nixon A. Ng
Eddie Wong

Abstract/Summary

Through the years, research on mobile robots has proven that legged robots are more promising as compared to wheeled robots. Legged robots enjoy distinct advantages in adapting to a variety of ground terrains, maneuvering in constrained spaces and for general mobility in unstructured environments. Because of the potential that legged robots possess, applications of these are being developed and are taken advantage of by a wide variety of fields.

The objective of this thesis is to develop and test a four-legged autonomous robot. It is capable of walking forward, backward, as well as turn left and right. The walking motions are based on different walking patterns or popularly known as gaits namely: Forward, Speed, Tilt and Crab Gait. Each leg requires 3 degrees of freedom needed for the lifting, sweeping and leg extension of the mobile robot. The microcontroller controls the movement of the servomotors. The robot can be controlled from a host computer by the use of RF communication. An RF transmitter was connected to the host computer while a receiver was placed on-board the robot, instructions can then be sent from the computer to the robot.

The robot is designed to be a stable platform for possible improvements to its current capabilities. Wireless communications and obstacle detection systems are examples of enhancements implemented in the robot.

Abstract Format

html

Language

English

Format

Print

Accession Number

TU15273

Shelf Location

Archives, The Learning Commons, 12F, Henry Sy Sr. Hall

Physical Description

1 v. (various foliations) : ill. ; 28 cm.

Keywords

Autonomous robots; Robots--Control systems; Robots--Programming; Artificial intelligence; Mobile robots; Walking

This document is currently not available here.

Share

COinS