RECONFIGURATION OF FOUR LEGGED WALKING ROBOT

Abstract

In this thesis, quadruped robot leg has been modeled as a rigid and compliant leg with three joints in each leg. The flexibility is modeled by introducing a compliant element in the lower link of the leg. For realizing locomotion of the quadruped robot, a gait pattern has been implemented. Robot locomotion through the implemented gait has been realized through simulation for both the rigid and compliant legged quadruped robot models. The implemented gait pattern facilitates the representation of the locomotion dynamics of the quadruped robot in a sagittal plane. Bond graph has been used as a tool for modeling of locomotion dynamics of robot. One of the main focuses of legged robotics research has been to develop solutions for applications demanding unmanned missions in inaccessible or hazardous sites. To improve the probability of mission success in such critical applications, the robots must be capable enough to autonomously detect the component failures and take corrective/preventive maintenance action in real time. In the thesis, fault accommodation strategy through reconfiguration for joint actuator faults in quadruped robots has been developed. Hardware redundancy is a prerequisite for the implementation of the strategy. In the work, Toe joint in each leg has served as the redundant device necessary for fault accommodation. The fault accommodation strategy has been developed and implemented through simulation for both the rigid and compliant legged quadruped robot models. The reconfiguration strategy was experimentally validated for rigid legged quadruped robot model in sagittal plane.