Sutrisno, Marvin Rainardi and Sinaga, Erikson F. (2020) Development of Quadrupedal Sprawling Robot for Traversing Rough Terrain and Monitoring. Bachelor thesis, Swiss German University.

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Abstract

The quadrupedal robot is a robot that uses four legs to traverse across terrains that wheeled vehicles could not. This allows quadrupedal robot to be able to be utilized in monitoring in dangerous locations and situations where no human or wheeled robots can normally traverse. However, in these areas the terrain is quite unpredictable. This indicates that the quadrupedal robot would require to have high stability to prevent tipping over, as well as be capable of moving while potentially under considerable load due to the monitoring apparatuses that need to be equipped to provide a better understanding of the location. A commonly used quadrupedal robot is the mammal-type quadrupedal robot. However, it has limitations in performing a turn, as well as its center of gravity is relatively high, which will make the robot more susceptible to toppling through external forces. The sprawling quadruped robot however, provides better stability due to its lower center of gravity which will also allow more attachments while minimizing the impact to its performance. Besides that, the sprawling quadrupedal robot has a better turn gait as well. Because of this the sprawling quadrupedal robot was selected to be utilized for monitoring in rough terrain.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Sprawling Quadrupedal Robot; Monitoring; Rough Terrain
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Faisal Ifzaldi
Date Deposited:	02 Nov 2020 14:10
Last Modified:	02 Nov 2020 14:10
URI:	http://repository.sgu.ac.id/id/eprint/1940

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