Walking Robot Essay

Legged walkers are a class of robots that imitate the locomotion of animals and insects, using legs. It is well known that legged locomotion is more efficient, speedy, and versatile than the one by track and wheeled vehicles when it operates in a rough terrain or in unconstructed environment. The potential advantages of legged locomotion can be indicated such as better mobility, obstacles overcoming ability, active suspension, energy efficiency, and achievable speed. Legged walking robots have found wide application areas such as in military tasks, inspection of nuclear power plants, surveillance, planetary explorations, and in forestry and agricultural tasks However, it is still far away to anticipate that legged walking robots can work

Weight of motors be,

W1=50 gms; W3=20 gms.

Weight of arm be W2=100gms; W4=100gms.

Based on above value the min torque required to move the leg will be, Torque at M1 = 0.3 Nm. Torque at M2 = 0.05Nm.

Since the base is fixed at the edges of the rectangular body, the base torque required can be ignored. By choosing the torque value greater than the value required for the motor, the robot can achieve its stability. To construct a Robot arm at its base the min torque required increases based on the total weight of the robotic arm.

ALGORITHM:-

To work with the robot i.e. to perform some tasks we need to develop some basic algorithms to work it either in structured or unstructured environment. Basic algorithms were designed to work with unstructured environment. BUG1 and BUG2 was the basic algorithm but we are going to use class 1 algorithm which states that “the robot can leave the obstacle that it encounters without exploring it completely”.

Class 2 algorithms are more adventurous i.e. they are more human, they take risks. This algorithm will win real life scenes, though it may lose badly in an unlucky scene. Before moving into the class2 algorithm, we have to be clear with some basic assumptions and