DYNAMIC MODELLING AND TRAJECTORY/ CONTROL OF FOUR LEGGED WALKING ROBOT WITH FLEXIBLE LEGS

Abstract

Legged locomotion is used by most of the animals and human on the earth because of the incredible adaptability and versatility this method of locomotion provides. It has the ability to travel in all kinds of terrain with minor ground contact. It can be used to move on rough, uneven, smooth terrains and also used to climb stair and to step obstacles. Whereas wheeled robots are limited and also require a continuous path of support. The objective of this report is about the dynamic modelling and Control of Four Legged Walking Robot with flexible legs. Here dynamic equations of motion are derived for the different running phases of bounding gait. All those equation are clubbed and simulated. Animated model has been made and the quadruped is made to run in flat and inclined terrain. Controller work has been done for controlling forward speed and the trajectory of the quadruped. Forward speed is controlled using the PD controller by varying the touchdown angle. Trajectory controller work is done with the help of neural network controller. Quadruped is asked to follow the reference trajectory.