Implementation of a Three-Legged Omnidirectional Hopping Robot
DOI:
https://doi.org/10.14419/ijet.v7i4.16.21782Keywords:
Arduino-based Microcontroller, Hopping Algorithm, Omnidirectionality, Three-legged Hopping RobotAbstract
In this work, we present the design and implementation of a three-legged robot that employs hopping as a means of locomotion while maintaining stability throughout the motion process. The developed three-legged hopping robot follows a tripod structure to house all the electronics and actuators. It is also radio-controlled, thereby, allowing flexibility and range to its users to control the direction and movement. A commercially off-the-shelf Arduino-based microcontroller is used to implement sensing, control and actuation of the tripod. The hopping mechanism is dependent on a heuristic approach by knowing beforehand the maximum height the three-legged robot can clear during its hop. During locomotion via hopping, a chosen leg is set to provide a different output force from the two other legs in order to move the robot to a specified direction. We tested the platform on even and uneven surfaces to determine its performance while maintaining stability.
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Received date: November 27, 2018
Accepted date: November 27, 2018
Published date: November 27, 2018