A Novel Design of a Quadruped Robot for Research Purposes | Zendy

Yam Geva | Zendy; Amir Shapiro | Zendy

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A Novel Design of a Quadruped Robot for Research Purposes

Author(s) -

Yam Geva,

Amir Shapiro

Publication year - 2014

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/57351

Subject(s) - interfacing , computer science , robot , traverse , modular design , simulation , kinematics , robot control , inverse kinematics , terrain , mobile robot , control engineering , artificial intelligence , computer hardware , engineering , ecology , physics , geodesy , classical mechanics , biology , geography , operating system

This paper presents the design of a novel quadruped robot. The proposed design is characterized by a simple, modular design, and easy interfacing capabilities. The robot is built mostly from off-the-shelf components. The design includes four 3-DOF legs, the robot body and its electronics. The proposed robot is able to traverse rough terrain while carrying additional payloads. Such payloads can include both sensors and computational hardware. We present the robot design, the control system, and the forward and inverse kinematics of the robot, as well as experiments that are compared with simulation results

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