CONTROL OF QUADRUPED ROBOT FOR DIFFERENT ENVIRONMENTS

Abstract

Quadrupeds are fascinating robots that come under the class of walking robots. The main advantages of these robots are that they are very adaptable to the rough environment. There are many different control schemes that exist in making these robots mobile and robust. This report contains some of the work that has been done in this field and briefly describes the various techniques used by the authors. This report also covers the development of neural network based controller for inverted pendulum, double pendulum and the robot. Eventually, the dynamic equations of motion of the robot are created in order to take into account, the surface friction value.