A Dynamic Approach to Low-Cost Design, Development, and Computational Simulation of a 12DoF Quadruped Robot

Robots equipped with legs have significant potential for real-world applications. Many industries, including those concerned with instruction, aid, security, and surveillance, have shown interest in legged robots. However, these robots are typically incredibly complicated and expensive to purchase....

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Bibliographic Details
Published in:Robotics (Basel) 2023-02, Vol.12 (1), p.28
Main Authors: Rahman, Md. Hasibur, Alam, Saadia Binte, Mou, Trisha Das, Uddin, Mohammad Faisal, Hasan, Mahady
Format: Article
Language:English
Subjects:
Bearing capacity
Comparative studies
Curves
Degrees of freedom (Mechanics)
Design
Design and construction
Dogs
Femur
Industrial robots
Kinematics
Legs
Linkage mechanisms
Load bearing elements
Low cost
Material properties
Motion stability
Production costs
PyBullet
quadruped robot
Robot dynamics
Robotics
Robots
Security
Simulation
Simulation models
simulations
Structural integrity
Surveillance
Tibia
URDF
watt six-bar linkage
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Summary:Robots equipped with legs have significant potential for real-world applications. Many industries, including those concerned with instruction, aid, security, and surveillance, have shown interest in legged robots. However, these robots are typically incredibly complicated and expensive to purchase. Iron Dog Mini is a low-cost, easily replicated, and modular quadruped robot built for training, security, and surveillance. To keep the price low and its upkeep simple, we designed our quadruped robot in a modular manner. We provide a comparative study of robotic manufacturing cost between our proposed robot and previously established robots. We were able to create a compact femur and tibia structure with sufficient load-bearing capacity. To improve stability and motion efficiency, we considered the novel Watt six-bar linkage mechanism. Using the SolidWorks modeling software, we analyzed the structural integrity of the robot’s components, considering their respective material properties. Furthermore, our research involved developing URDF data for our quadruped robot based on its CAD model. Its gait trajectory is planned using a 14-point Bezier curve. We demonstrate the operation of the simulation model and briefly discuss the robot’s kinematics. Computational methods are emphasized in this research, coupled with the simulation of kinematic and dynamic performances and analytical/numerical modeling.
ISSN:2218-6581
2218-6581
DOI:10.3390/robotics12010028