Abstract:
This report outlines the complete journey of designing and developing a quadruped robot,
covering mechanical design, kinematic and dynamic analysis, control system development,
and prototype testing. The project begins with an extensive literature review highlighting
the evolution of quadrupedal robotics, emphasizing innovations in leg design, articulated
joints, and sensor integration. The methodology section discusses the kinematic analysis,
gait strategy, MATLAB simulations, and control algorithms implemented in the robot.
A kinematic analysis explores forward and inverse kinematics, crucial for the robot's gait
and stability. The team used finite element analysis (FEA) to validate their choice of leg
material, Polylactic Acid (PLA), ensuring it met stress and deflection criteria for durability.
The control system employs PID controllers and Model Predictive Control, focusing on
balancing the robot's locomotion and maintaining stability.
The results and discussions include detailed insights into the microcontroller, actuator,
battery, and IMU selection for precise control. MATLAB Simulink simulations validated
the design approach, leading to refined control strategies and improved performance. The
prototype testing demonstrated accurate inverse kinematics through its servo calibration
and foot placement, with ongoing adjustments for stable walking and overcoming noise in
PWM signals. The integration of a PWM driver improved signal integrity, leading to
smoother robot movement.
The conclusion emphasizes the project's achievements in gait analysis, mechanical design,
and control systems. Recommendations include exploring new materials for enhanced
durability, integrating learning-based strategies, and refining energy storage. Future work
focuses on terrain testing, multi-robot communication, and user interface development for
broader applicability.
