Quad crawler robot navigation using animal walking gait

S. Parasuraman, Veronica Lestari Jauw

    Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

    3 Citations (Scopus)

    Abstract

    In recent years, much interest in improving the stability of walking robot has motivated the researchers to investigate and understand the fundamental principles of biological animal gait locomotion. However, maintaining the stability of a robot is not easy as it seems, the main problem in developing walking robot is how the walking robot can obtain gait stability during walking and the workspace limitation. Studies are done to implement the biological aspects of animal into the robot kinematic design, leg configuration and control structures. This project is focused on the development of a novel class of crawler robot, which mimics the locomotion of four legged animal. The fundamental gait of lizard locomotion has been adopted as a basic concept of the developed quad crawler locomotion. The kinematics of the leg mechanism is developed and verified with simulation studies. The experimental studies are carried out to investigate the stability issues while walking and navigate in the environment. The experimental results are discussed and compared with the existing work.

    Original languageEnglish
    Title of host publicationICECT 2010 - Proceedings of the 2010 2nd International Conference on Electronic Computer Technology
    Pages232-237
    Number of pages6
    DOIs
    Publication statusPublished - 2010
    EventInternational Conference on Electronic Computer Technology 2010 - Kuala Lumpur, Malaysia
    Duration: 7 May 201010 May 2010

    Conference

    ConferenceInternational Conference on Electronic Computer Technology 2010
    Abbreviated titleICECT 2010
    CountryMalaysia
    CityKuala Lumpur
    Period7/05/1010/05/10

    Keywords

    • Animal locomotion
    • Kinematics
    • Modeling and control
    • Quad crawler
    • Walking robot

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