Murdargo, Senoaji Puspo and Rusyadi, Rusman and Manurung, Edward Boris (2016) Implementing and Developing Stabilizing Control System for Quadrupedal Locomotion Based Robot. Bachelor thesis, Swiss German University.

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Abstract

A quadruped robot is a four legged robot which depicts similarly to a cat. The quadruped robot has been emerging interest in the robotics industry. It has the advantage of traversing an uneven terrain without colliding with the ground. The BigDog has raise d awareness, thus it is to be the main inspiration to this study. The BigDog has the abilit y to react based on a sensor that reads acceleration, gyroscopic angles, and force sensor pads on the each of its foot. In this study, the robot’s design is based on the Cheetah- Cub robot, which then modified to be implemented with stabilizing algorithm. Profiling the gait sequence was executed by using the sinusoidal gait method and inverse kinematics are also considered. Both methods were compared to analyse practicabilit y, controllability, and stability performance. The robot that that has been fabricated in this study have the ability to maintain its body’s horizontal orientation. The PID algorithm was used to execute the proposed objective.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	PID; Control; Gyroscope; Accelerometer; Gait; Quadrupedal; Sinusoidal Gait; Inverse Kinematics.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General) T Technology > TJ Mechanical engineering and machinery > TJ223 Microcontrollers T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL589.2 Accelerometers
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Atroridho Rizky
Date Deposited:	12 Nov 2020 15:07
Last Modified:	12 Nov 2020 15:07
URI:	http://repository.sgu.ac.id/id/eprint/1432

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