DYNAMIC MODELLING AND EXPERIMENTAL STUDIES ON FOUR LEGGED WALKING ROBOT

Abstract

In designing and simulation of four legged walking robot, kinematics and dynamics modeling plays vital role. The kinematic model gives relation between position and orientation. The differential kinematics of leg refers to differential motion that is velocity and acceleration. Dynamic modeling gives the relation between joint actuator torque and motion of link for simulation and design of control algorithm. The objective of this thesis is the design and analysis of a four legged walking robot for the inter-leg coordination. Inter-leg coordination means the control of the phase relationships between the cyclic movements of individual legs during a rhythmic motor behaviour. The first part of the thesis (Chapter 1) is devoted to Introduction of four legged walking robot. The second part of the thesis (Chapter 2) is devoted to Literature review of four legged walking robot The third part of the thesis (Chapter 3) is devoted to Dynamics of four legged walking robot. In which Description of the position, linear and angular velocity vectors is given. It provides the complete linear and angular dynamics of the body. In the detailed Kinematic analysis of four legged walking robot is demonstrated, which is required for bond graph modeling. In the fourth part (Chapter 4) of the thesis Dynamics analysis is done by bond graph modeling technique. Symbol shakti tool has been used for generation of equation of motion. Dynamic formulation is done by using Iterative Newton-Euler dynamic formulation. In the fifth part (Chapter5) of the thesis simulation is done and results are discussed. The joint control is also achieved using a PD control law for each leg actuator of a four legged robot. Bond graph result are validated with the experimental results. In the sixth part (Chapter 6) of the thesis experimental design of four legged walking robot is done and walking gait pattern has been introduced.. In this chapter validation of model has done and bond graph result are validated with the experimental results. Thus design of gait pattern has been successfully developed and bond graph result has been validated. Experimental study is carried out successfully.