Implementation of a Three-Legged Omnidirectional Hopping Robot

 
 
 
  • Abstract
  • Keywords
  • References
  • PDF
  • Abstract


    In this work, we present the design and implementation of a three-legged robot that employs hopping as a means of locomotion while maintaining stability throughout the motion process.  The developed three-legged hopping robot follows a tripod structure to house all the electronics and actuators.  It is also radio-controlled, thereby, allowing flexibility and range to its users to control the direction and movement.  A commercially off-the-shelf Arduino-based microcontroller is used to implement sensing, control and actuation of the tripod.  The hopping mechanism is dependent on a heuristic approach by knowing beforehand the maximum height the three-legged robot can clear during its hop.  During locomotion via hopping, a chosen leg is set to provide a different output force from the two other legs in order to move the robot to a specified direction. We tested the platform on even and uneven surfaces to determine its performance while maintaining stability.

     

     


  • Keywords


    Arduino-based Microcontroller; Hopping Algorithm; Omnidirectionality; Three-legged Hopping Robot

  • References


      [1] E. R. Magsino, "Implementation of a Walking Bipedal Robot using Position Control Algorithm," 2006.

      [2] H. Kimura, T. Yamashita and S. Kobayashi, "Reinforcement learning of walking behavior for a four-legged robot," IEEJ Transactions on Electronics, Information and Systems, (2002), vol. 122, no. 3, pp. 330-337, 2002.

      [3] A. M. Hoover, S. Burden, X.-Y. Fu, S. S. Sastry and R. S. Fearing, "Bio-inspired design and dynamic maneuverability of a minimally actuated six-legged robot," 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, (2010), pp. 869-876.

      [4] K. Karydis, I. Poulakakis and H. G. Tanner, "Probabilistic validation of a stochastic kinematic model for an eight-legged robot," IEEE International Conference on Robotics and Automation), (2013), pp. 2562-2567.

      [5] S. Inagaki, H. Yuasa, T. Suzuki and T. Arai, "Wave CPG model for autonomous decentralized multi-legged robot: Gait generation and walking speed control," Robotics and Autonomous Systems, (2006), vol. 54, no. 2, pp. 118-126.

      [6] S.-H. Hyon and T. Mita, "Development of a biologically inspired hopping robot-" Kenken," IEEE International Conference on Robotics and Automation Proceedings, (2002), pp. 3984-3991.

      [7] A. Kassim, M. Miskon, N. Rahim and T. Yasuno, "Moving motion control system on developed tripod hopping robot," International Conference on Electrical, Control and Computer Engineering, (2011), pp. 284-287.

      [8] R. Armour, K. Paskins, A. Bowyer, J. Vincent and W. Megill, "Jumping robots: a biomimetic solution to locomotion across rough terrain," Bioinspiration & Biomimetics, (2007), vol. 2, no. 3, p. S65-S82.

      [9] M. Noh, S.-W. Kim, S. An, J.-S. Koh and K.-J. Cho, "Flea-inspired catapult mechanism for miniature jumping robots," IEEE Transactions on Robotics, (2012), vol. 28, no. 5, pp. 1007-1018.

      [10] M. Kovac, M. Fuchs, A. Guignard, J.-C. Zufferey and D. Floreano, "A miniature 7g jumping robot," IEEE International Conference on Robotics and Automation, (2008).

      [11] S. Stoeter and N. Papanikolopoulos, "Autonomous stair-climbing with miniature jumping robots," IEEE Transactions on Systems, Man, and Cybernetics, Part B, (2005), vol. 35, no. 2, pp. 313-325.


 

View

Download

Article ID: 21782
 
DOI: 10.14419/ijet.v7i4.16.21782




Copyright © 2012-2015 Science Publishing Corporation Inc. All rights reserved.