Quadruped Robot Essay
Abstract — Many medium dimensions of quadruped robots have done in a research, however, no one has used a power window motor as the main locomotion. In this research, researchers have designed a medium dimension of the quadruped robot namely "Kancil" using a V-REP simulation application, to sum up the trajectory of robot legs. In addition the quadruped robot in the research has medium, dimensions, typically having dimensions of 60 cm long, 40 cm wide and 50 cm in height. Furthermore, designing of the robot using a thin iron material. In addition an L/R power motor mounted symmetrically on the left and right of the front and rear legs, for this reason can assure balance the robot body. The robot is simulated with the overall weight parameter of 5 Kg, afterwards controlled and driven by the algorithm of the simulation namely LUA script. In the meanwhile, the algorithm, …show more content…
The movement of each leg remains as shown in figure 7 below.
2.1.3 VDP Oscillator Implementation
Implementation of VDP oscillator used pair dynamics i-th oscillator as follows:
……… (3)
Accordingly, for i = 1,2,3,4 where xi is the output signal of the oscillator, in this case the right side of the equation is the control signal, qi is the offset parameter, ki is the amplitude and k2 is the sine frequency. In addition the parameters of 〖feet〗_i are signal feedback sensors to the network, and αi denotes a connection variable designed as: ……… (4)
In the meanwhile, the coefficient of λij represents the strength of the oscillator effect i on oscillator j. The production of each gait depends on the value of the oscillator parameter and the weight of the relationship between the oscillator. To analyze the four basic measures, therefore we should define a gait-style matrix as a connection variable whose formula is as follows:
………
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