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Design of Control System for Quadruped Robot (4-Legged Robot)

The project outcome is to design a control system for quadruped robot (4-legged robot). Early 2007, a quadruped robot was built by an UTP graduate; Mr. Tnay Chiat Siang (Matric No. 6114). The quadruped robot is well constructed in mechanicalwise; however, it has never been able to move as there i...

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Bibliographic Details
Main Author: YEE , YUAN BIN
Format: Final Year Project
Language:English
Published: Universiti Teknologi Petronas 2009
Subjects:
TJ Mechanical engineering and machinery
Online Access:http://utpedia.utp.edu.my/7723/1/2009%20-%20Design%20of%20Control%20System%20for%20Quadruped%20Robot%20%284-Legged%20Robot%29.pdf
http://utpedia.utp.edu.my/7723/
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spelling my-utp-utpedia.77232017-01-25T09:44:06Z http://utpedia.utp.edu.my/7723/ Design of Control System for Quadruped Robot (4-Legged Robot) YEE , YUAN BIN TJ Mechanical engineering and machinery The project outcome is to design a control system for quadruped robot (4-legged robot). Early 2007, a quadruped robot was built by an UTP graduate; Mr. Tnay Chiat Siang (Matric No. 6114). The quadruped robot is well constructed in mechanicalwise; however, it has never been able to move as there is no motor driver and control system being developed for it. Therefore, the author has decided to come in on Mr. Tnay Chiat Siang's quadruped project and continue his work to develop a control system which will eventually drive the quadruped robot to perform crawling gait on flat and horizontal ground. The control system of quadruped involves gait control, stability control and motor control. This project is split to three phases. The timeline of each phase is that phase 1 is carried out at semester FYP 1 while phase 2 begins during the year-end semester break. Phase 3 is commenced during FYP 2. The work aspect of phase 1 is on schematic design and crawling gait planning of quadruped. A preliminary simulation is used to demonstrate the planned crawling gait. The focus of phase 2 is more on learning how to manipulate PIC microcontroller and servomotors. At last, phase 3 is the prototype fabricating and testing stage with the presence of servomotors and circuit board. At the end of project, the quadruped prototype is meant to perform forward crawling gait on flat and horizontal ground. Universiti Teknologi Petronas 2009-05 Final Year Project NonPeerReviewed application/pdf en http://utpedia.utp.edu.my/7723/1/2009%20-%20Design%20of%20Control%20System%20for%20Quadruped%20Robot%20%284-Legged%20Robot%29.pdf YEE , YUAN BIN (2009) Design of Control System for Quadruped Robot (4-Legged Robot). Universiti Teknologi Petronas. (Unpublished)
institution Universiti Teknologi Petronas
building UTP Resource Centre
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Petronas
content_source UTP Electronic and Digitized Intellectual Asset
url_provider http://utpedia.utp.edu.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
YEE , YUAN BIN
Design of Control System for Quadruped Robot (4-Legged Robot)
description The project outcome is to design a control system for quadruped robot (4-legged robot). Early 2007, a quadruped robot was built by an UTP graduate; Mr. Tnay Chiat Siang (Matric No. 6114). The quadruped robot is well constructed in mechanicalwise; however, it has never been able to move as there is no motor driver and control system being developed for it. Therefore, the author has decided to come in on Mr. Tnay Chiat Siang's quadruped project and continue his work to develop a control system which will eventually drive the quadruped robot to perform crawling gait on flat and horizontal ground. The control system of quadruped involves gait control, stability control and motor control. This project is split to three phases. The timeline of each phase is that phase 1 is carried out at semester FYP 1 while phase 2 begins during the year-end semester break. Phase 3 is commenced during FYP 2. The work aspect of phase 1 is on schematic design and crawling gait planning of quadruped. A preliminary simulation is used to demonstrate the planned crawling gait. The focus of phase 2 is more on learning how to manipulate PIC microcontroller and servomotors. At last, phase 3 is the prototype fabricating and testing stage with the presence of servomotors and circuit board. At the end of project, the quadruped prototype is meant to perform forward crawling gait on flat and horizontal ground.
format Final Year Project
author YEE , YUAN BIN
author_facet YEE , YUAN BIN
author_sort YEE , YUAN BIN
title Design of Control System for Quadruped Robot (4-Legged Robot)
title_short Design of Control System for Quadruped Robot (4-Legged Robot)
title_full Design of Control System for Quadruped Robot (4-Legged Robot)
title_fullStr Design of Control System for Quadruped Robot (4-Legged Robot)
title_full_unstemmed Design of Control System for Quadruped Robot (4-Legged Robot)
title_sort design of control system for quadruped robot (4-legged robot)
publisher Universiti Teknologi Petronas
publishDate 2009
url http://utpedia.utp.edu.my/7723/1/2009%20-%20Design%20of%20Control%20System%20for%20Quadruped%20Robot%20%284-Legged%20Robot%29.pdf
http://utpedia.utp.edu.my/7723/
_version_ 1739831500570886144
score 13.211869

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