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....
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/1/28 |
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| author | Md. Hasibur Rahman Saadia Binte Alam Trisha Das Mou Mohammad Faisal Uddin Mahady Hasan |
| author_facet | Md. Hasibur Rahman Saadia Binte Alam Trisha Das Mou Mohammad Faisal Uddin Mahady Hasan |
| author_sort | Md. Hasibur Rahman |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-11T08:11:31Z |
| format | Article |
| id | doaj.art-1a43730ad3d04a6f9f4f084b8eb9d73b |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-11T08:11:31Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-1a43730ad3d04a6f9f4f084b8eb9d73b2023-11-16T23:05:32ZengMDPI AGRobotics2218-65812023-02-011212810.3390/robotics12010028A Dynamic Approach to Low-Cost Design, Development, and Computational Simulation of a 12DoF Quadruped RobotMd. Hasibur Rahman0Saadia Binte Alam1Trisha Das Mou2Mohammad Faisal Uddin3Mahady Hasan4Department of Computer Science Engineering, IUB, Dhaka 1229, BangladeshDepartment of Computer Science Engineering, IUB, Dhaka 1229, BangladeshDepartment of Computer Science Engineering, IUB, Dhaka 1229, BangladeshDepartment of Computer Science Engineering, IUB, Dhaka 1229, BangladeshDepartment of Computer Science Engineering, IUB, Dhaka 1229, BangladeshRobots 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.https://www.mdpi.com/2218-6581/12/1/28kinematicssimulationsquadruped robotwatt six-bar linkagePyBulletURDF |
| spellingShingle | Md. Hasibur Rahman Saadia Binte Alam Trisha Das Mou Mohammad Faisal Uddin Mahady Hasan A Dynamic Approach to Low-Cost Design, Development, and Computational Simulation of a 12DoF Quadruped Robot Robotics kinematics simulations quadruped robot watt six-bar linkage PyBullet URDF |
| title | A Dynamic Approach to Low-Cost Design, Development, and Computational Simulation of a 12DoF Quadruped Robot |
| title_full | A Dynamic Approach to Low-Cost Design, Development, and Computational Simulation of a 12DoF Quadruped Robot |
| title_fullStr | A Dynamic Approach to Low-Cost Design, Development, and Computational Simulation of a 12DoF Quadruped Robot |
| title_full_unstemmed | A Dynamic Approach to Low-Cost Design, Development, and Computational Simulation of a 12DoF Quadruped Robot |
| title_short | A Dynamic Approach to Low-Cost Design, Development, and Computational Simulation of a 12DoF Quadruped Robot |
| title_sort | dynamic approach to low cost design development and computational simulation of a 12dof quadruped robot |
| topic | kinematics simulations quadruped robot watt six-bar linkage PyBullet URDF |
| url | https://www.mdpi.com/2218-6581/12/1/28 |
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