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
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
Recommended Citation
Abesamis, J., Barrido, L., Capones, J., Ching, F., & Chua, S. (2002). Quadruped autonomous mobile robot. Retrieved from https://animorepository.dlsu.edu.ph/etd_bachelors/14567