Participating in Robofest 2.0, we embarked on an intriguing journey centered around the development of quadrupedal motion. Guided by this theme, we conceptualized and designed a remarkable four-legged robot, a Quadruped Robot, fondly named ZAC. Our journey saw us securing the Proof of Concept stage, propelling us forward with a grant of INR 50,000 to realize our vision.
Crafting ZAC demanded an innovative approach. We strategically employed various plastics - PLA, ABS, and PETG - to tailor the structure according to specific applications. The heart of our creation lay in the meticulous integration of servos as actuators and Arduino Uno as the microcontroller. For maintaining balance, we harnessed the capabilities of the MPU6050 sensor. The intricacies of leg trajectory were mastered through the application of inverse kinematics, while PYBullet software facilitated gait training.
Looking forward, this experience propels us to continue exploring the uncharted territories of technology, uncovering new avenues of potential, and contributing to the dynamic landscape of robotics and innovation.
Quadruped Robot (ZAC)
This introduces robust, dynamic quadruped designed by team GCET. The terrain over which, these robots must be able to move is often uneven, slippery or muddy, which gives rise to many challenges, particularly stability. Two of the most common methods for robot mobility are wheels and legs. The necessity of legged robots is increasing day by day, as compared to the wheeled robots. Legged robots are more advantageous and versatile than wheeled robots, on uneven terrain such as military operations, remote locations, dangerous environments, excavation and construction works and medical applications.This paper presents, design of a quadruped robot having four legs, whose design is derived from Animal structure. An attempt was also made, to perform inverse kinematic analysis on the design for validation
The Body is designed specifically in a way so as to adapt to different environments quickly. It is thoughtfully engineered so as to achieve maximum motions with minimum mechanical hinderances, therefore achieving fullest work volume for our Quadruped Robot. We have chosen 3D printing to create the body structure so as to perfectly achieve the required form. In 3D printing, we have used 3 Materials - PETG, ABS, and PLA. PLA is used in Body, Face, and Back Shield as these parts experience less stress while ABS is used for Leg Modules as they require high load-bearing capacity. The Servo mountings for hip moments are embedded in body structure only therefore we have used PETG material for higher durability. The Linkages used are of Stainless Steel for its strength and corrosion resistance.