Modular H-shaped four-legged robot

This is another student project at Aalesund University College, Mechatronics course (Spring semester 2012). The main idea of this project consists of developing a modular "H"-shaped four-legged robot. The robot should have the pose and locomotion capabilities of standing, crawling, turning, and lateral crawling, ... The initial mockup of the project is described in the figure below.

Possible approach

The gate of the robot is bio-inspired. In order to find the optimal gate a specific cost function has to be defined as a weighted balance of speed, mechanical energy of the actuators, torque, current consumption, …

Current implementation

One group of students has been working to the development of this project under the supervision of Professor Houxiang Zhang and Filippo Sanfilippo.

Students: Folke-Olsen Roy Perez, Langelo Kim André, Toverød Christoffer Flesjø.

NOTE: Simulations were carried out by Langelo Kim André using OpenRAVE simulator under the supervision of Filippo Sanfilippo.

Future works

• Improve the mechanical structure. Redesign the touch sensors.
• Optimal gate. Definition of a cost function as a weighted balance of speed, mechanical energy of the actuators, torque, current consumption, …