Multi-terrain Quadruped Robot

Mohammed Safeel
Hardhik M Akash Jain S
Dept. of Electronics and
Dept. of Electronics and Dept. of Electronics and
communication,
communication, communication,
Sri Jayachamrajendra College of
Sri Jayachamrajendra College of Sri Jayachamrajendra College of
Engineering
Engineering Engineering
JSS Science and technology
JSS Science and technology JSS Science and technology
University,Mysuru
University,Mysuru University,Mysuru
safeelization@gmail.com
hardhikm.08@gmail.com akashj.jain65@gmail.com

Shivaprasad N
Renuka B S
Assistant Professor, Dept.
Associate Professor, Dept. of
of Electronics and
Electronics and
communication, communication,
Sri Jayachamrajendra College of
Sri Jayachamrajendra College of
Engineering
Engineering
JSS Science and technology
JSS Science and technology
University,Mysuru
University,Mysuru
renuka@sjce.ac.in shivaprasda_n@sjce.ac.in

Abstract— Quadruped is a locomotory robot comparable to
animals using four legs, which means “four feet”. Most of
quadrupeds are found in vertebrate animals. This quadruped
robot project intends to give an in depth view of the technical
and programming aspects in designing a walking robot. We
intend to control motion using Bluetooth module. The
quadruped robot walking gaits are developed manually & coded
in `embedded c-language' and compiled in Arduino IDE.
Keywords— Multi-terrain,walking gaits, kinematic analysis
I. INTRODUCTION
Locomotion on different types of terrain requires different
mechanisms. While rolling is ideal on flat terrain due to its fast,
smooth, and power-efficient characteristics, it cannot be used on
other terrain types. By contrast, crawling, which usually occurs
more slowly than rolling, can allow for the navigation of rough
terrain.
In many cases, there is a need for mobile platforms that can move in
areas with difficult terrain conditions where wheeled vehicles cannot
travel. examples of such scenarios can be seen in search and rescue
tasks, as well as in carrying payloads. unlike wheeled
robots,walking robots are characterized by very good mobility in
rough terrain. the main goal of this paper is to present an innovative,
modular and inexpensive design of a four-legged robot for
locomotion research purposes.
Walking robots provide potential advantages over traditional wheeled
vehicles and they can carry bigger tasks efficiently than their
counterparts.Although, their use in industries andservices islimited.These
robots can initiate without actively adjusting position. This is because the
legged robots have multiple actuators and multiple DOF for each leg
for better control [1].
In the 19th century, first models appeared around the year 1870 , For
80-90 years, they tried to built robots based on different kinematic
chains to generate a desired motion profile during operation. During
this time performance of these machines was limited by cyclic
walking and were not adaptable to different trajectories..In the late
1950s, it was realized that these should be built with kinematics and
other mechanisms. First autonomous robot that was autonomous
with computerized control and electric propulsion was built in 1966
by mcghee and frank.. Since then, and following due to
advancement of control systems, computing resources and motion
actuators, different robots variable abilities have come up. these
abilities include running , walking over rough terrain, jumping over
obstacles , climbing and more.
.
II. THEORY
Multi-terrain robot have a huge potential for movement over
rough terrains in comparison to conventional robots.Forward
kinematics provides translation & orientation of joints with
respect to coordinate system..The solution of each link co-
ordinates, the final link values will be computed to get final
coordiantes. Inverse kinematics gives the required actuation
angles for given final pose.
The quadruped robot gaits are classified into three types of main
gaits depending on the value of the duty factor (beta(i)), where
i=1,..4, as crawl gait, running gait, and the galloping gait. The
duty factor (beta(i) ) is the ratio of time period of one leg spend
in the air to time period spend by it on the ground, , creeping gait
has duty factor equal to 0.75. The running gait has duty factor
ranging between 0.5-0.75, and the gait has a duty factor less than
0.5. These are generally known as creeping gait, trotting gait and
bounding gait . These gaits are utilized by some mammals.
Creeping gait is generally statically stable movement and it is
used at the range of low-speed motions. The creeping gait needs
at least three legs on the ground while the other leg is at
translation phase in the air. This condition is required for
achieving a statically stable gait. This gait uses the mechanism
that the back leg touches the ground followed by front leg in the
same side leaving the ground.Then the front leg is touching-
down the ground, thne back leg on the other side of the body

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starts to leave the ground, , this sequence repeats continuously
during robots locomotion [2].
The inverse kinematics method formulated the joint angles from
a given position and orientation of the legs tip. These position
and orientation are achieved from the forward kinematics. To
find the inverse kinematics in each leg joint, the method
simplifies this problem from 3D problem view into two 2D
problem viewand then calculate required actuation angles for leg
control to get desired position at the end effector[3].
In case of quadruped robot creeping gait walking, and according
to static stability condition, the stability margins are utilized the
shortest distance between the COG projection of the quadruped
robot to the boundary limits of the supporting pattern [4].
During crawling, at least three feet are always in contact with the
ground at the same time, it makes it possible for the robot to walk
with the centre of mass within the support polygon. A way of
planning the crawl was tested on the robot. The algorithm
ensures that the robot will not fall over as long as the disturbances
on the robot will be lower than a chosen force.
To make the robot to work in in the wild environment, e.g., the
detection or manipulation tasks, the payload capacity is
important. To carry the sensors or tools, heavy load legged robot
is very necessary. So the actuator should be lightweight,
powerful and easy to maintain. However, this may be costly and
hard to satisfy at the same time[5].
III. DESIGN
A. Hardware Requirements
a)Arduino UNO
This microcontroller board which uses Microchip
ATmega328P microcontroller. It has 14 Digital and 6 Analog
connection pins, and is programmed with the Arduino software IDE
through a type B USB cable.and is powered using either a USB cable
or by an external 9-volt battery. This board has a miocrocontroller
which can send and control the signals.. By responding to sensors
and inputs, this can also provide control through interfacing
actuators and display.Because of low cost and easy programming
requirements it is most widely used.
b)HC-06 Bluetooth module
This Bluetooth module is used to achieve serial wireless data
transmission with operating frequency of 2.4GHz .It uses a
Bluetooth 2.0+EDR standard. In Bluetooth 2.0, signal transmit time
is around 0.5 seconds . It is set with serial interface, which is easier
and simplifies the design and development ..
c)SG-90 Servo motors
It is tiny and lightweight with high output power. They can
rotate around 180 degrees ,90 degree in each direction Servo
code, hardware or library to control these servomotors. It has
3 wires vcc,gnd and pwm input ,their rotation is controlled
by varying duty cycle
B. .Software Requirements.
a) Arduino IDE
It is an open-source programming software used in building
electronics projects. It hasbecome popular due to its simplicity .It
has a programmable circuit board which can be easy programmed
multiple times. For loading a code onto the board – we need to
simply connect a computer with USB cable. This software, uses a
simplie version of C++, it makes it easier to program. It has a lot of
libraries to program different modules
C. .Mechanical Design
a) Parameter Optimization
For optimization of the shoulder and elbow joint motions
emulated by the link mechanism, a cost function that represents the
performance objective effectively is necessary. From the viewpoint
of engineering, however, the animal’s leg motions are not
necessarily optimal for the robot system. The torque (power)
transmissivity from an actuator to the propulsion part should be
considered in the mechanical design. In addition, the clearance of
the tiptoe should also be considered, because the larger the clearance
of the tiptoe, the better robustness to the unevenness of the ground
surface. In addition, there may exist biases in the measurement of
the shoulder and elbow joint angles shown in Fig. 3, and thus another
dummy variable, β, is included for consideration of the unknown
bias in the measurements. [6].
b) Gait Speed
The motion of the link system is a function of the rotation angle
of the moving, the locomotion speed of quadruped robot is
proportional to the angular speed of the rotating wheel. Therefore, it
is reasonable to introduce a speed constant, s, that represents the
linear relationship between the locomotion speed.
c) Required Actuation Power and Torque
In order to calculate the actuation power, the dynamic model of
quadruped robot is established and is simulated.Equations of
motions are obtained from the free body diagrams by Newtonian
mechanics.
Four foot robot gait planning Diagonal gait is a common gait for
quadruped robots. According to research, diagonal gait is the most
energy-saving gait in nature. Here we study the diagonal gait,
analyzing the stability of the robot during its advancement, and
changing in the center of gravity[7]. The whole cycle time of one
gait is nearly 12s.
IV. BLOCK DIAGRAM AND IMPLEMENTATION
The android app is connected to the microcontroller through
Bluetooth module.The controller used here is arduino uno Figure 1.
The leg movement of the quadruped robot, microcontroller is
connected to the servo motor. Each leg is connected to the 3 servo
motors ,to provide rotation from 0 -180degrees.
Fig 1: Block Diagram of Quadruped Robot
The body was designed using cad tool and was 3d printed the cad
design (Fig 2) and 3d printed model with all interfaces is shown in
Fig 3.
The robot was controlled using a Bluetooth module which connected
the Arduino with the mobile through an app and the commands were
given to Arduino to perform specific actions(Fig4).

Fig 4: Bluetooth Control of Quadruped Robot

a.
) ACKNOWLEDGMENT
Fig 2 : 2CAD DESIGN We thank Mrs. B S Renuka & Mr. N Shivaprasad for their assistance
with design & implementation of our project.We would also like to
show our gratitude to the everyone who shared their valuable
knowledge with us during the course of this research, and we thank
everyone for their insights ,although any errors are our own and
should not tarnish the reputations of these esteemed persons.

REFERENCES

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