Design Assembly and Gait Generation of a Quadruped Robot

Rodrigues, Troglio John Allister and R, Prasanth Kumar (2018) Design Assembly and Gait Generation of a Quadruped Robot. Masters thesis, Indian Institute of Technology Hyderabad.

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Abstract

Quadruped robots are sophisticated machines. They are equipped with several sensors in order to properly scan the terrain and look for possible positions where the foot can be placed. Here we have developed an electrically actuated quadruped robot to test the feasibility of such a robot. Generally most quadrupeds have pneumatic or hydraulic actuators which have greater force outputs but lack high accuracy. Electric actuators have higher accuracy but not very high force to weight ratio, hence the feasibility of an electrically actuated quadruped is explored.

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