Implementation of a Three-Legged Omnidirectional Hopping Robot

  • Authors

    • Elmer R. Magsino
    • Gerald P. Arada
    • Martin Klarence V. Manalo
    • Maxine Claryze C. Micu
    • Jona Liza M. Montrias
    • Giecel T. Palo
    2018-11-27
    https://doi.org/10.14419/ijet.v7i4.16.21782
  • Arduino-based Microcontroller, Hopping Algorithm, Omnidirectionality, Three-legged Hopping Robot
  • 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.

     

     

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  • How to Cite

    R. Magsino, E., P. Arada, G., Klarence V. Manalo, M., Claryze C. Micu, M., Liza M. Montrias, J., & T. Palo, G. (2018). Implementation of a Three-Legged Omnidirectional Hopping Robot. International Journal of Engineering & Technology, 7(4.16), 71-75. https://doi.org/10.14419/ijet.v7i4.16.21782