Design and Fabrication of a Four-Legged Robot

Abstract

This report presents the design and implementation of a four-legged robot that can perform various locomotion tasks. The robot hardware consists of four legs, each with three degrees of freedom, and a central body that houses the control of electronics and power supply.

The legs are actuated using servo motors and are equipped with sensors for measuring joint angles and ground contact. The control system is based on an embedded microcontroller, which runs custom software for coordinating the leg movements and maintaining balance. The robot is designed to be versatile and robust, with the ability to traverse on uneven surfaces. The proposed design offers a promising platform for exploring the capabilities of legged robots and advancing the field of robotics.

The report discusses the electronic components used in a four-legged robot, including the servos, Raspberry Pi 4b, Arduino Uno, PCA9685 PWM servo driver, MPU 6050, and battery. Each leg consists of three servos: one for the hip, one for the upper part of the leg, and one for the lower part of the leg. The servos are attached to the PCA9685 PWM servo driver, which is controlled by the Arduino Uno.

The Raspberry Pi acts as the brain of the robot and is responsible for the overall geometry of the robot. The report also discusses the use of ROS (Robot Operating System) to control robots and how it is connected to the hardware components.