Implementation of balance control on terrain quadruped traversal

Authors

Jay Robert B. Del Rosario, De La Salle University, Manila
Christian S. Falcon, De La Salle University, Manila
Jenica Paulyn Pasion, De La Salle University, Manila
Benjamin Emmanuel F. Tamonte, De La Salle University, Manila

College

Gokongwei College of Engineering

Department/Unit

Electronics And Communications Engg

Document Type

Conference Proceeding

Source Title

8th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management, HNICEM 2015

Publication Date

1-25-2016

Abstract

Implementation of balance control and development of an android application based remote control for a three (3) Degrees of Freedom quadruped robot is proposed. Balance control is achieved by shifting the quadruped's center of gravity using a proposed gait sequence and accelerometer sensor reading for tilt compensation while the development of the android application is through the use of Android Eclipse SDK. This study provided a simple yet effective approach in balance control. The implementation maintained the deviation in acceleration in the 1.5 m/s2. Data and results gathered are presented. © 2015 IEEE.

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Digitial Object Identifier (DOI)

10.1109/HNICEM.2015.7393195

Recommended Citation

Del Rosario, J. B., Falcon, C. S., Pasion, J., & Tamonte, B. F. (2016). Implementation of balance control on terrain quadruped traversal. 8th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management, HNICEM 2015 https://doi.org/10.1109/HNICEM.2015.7393195

Disciplines

Electrical and Electronics | Systems and Communications

Keywords

Robots—Control systems

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