Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

A Quadruped Robot with the Wooden Body for Static Locomotion in a Controlled Environment

Version 1 : Received: 9 July 2020 / Approved: 11 July 2020 / Online: 11 July 2020 (01:56:38 CEST)
Version 2 : Received: 18 July 2020 / Approved: 20 July 2020 / Online: 20 July 2020 (04:13:18 CEST)

How to cite: Khan, M.B. A Quadruped Robot with the Wooden Body for Static Locomotion in a Controlled Environment . Preprints 2020, 2020070217 (doi: 10.20944/preprints202007.0217.v1). Khan, M.B. A Quadruped Robot with the Wooden Body for Static Locomotion in a Controlled Environment . Preprints 2020, 2020070217 (doi: 10.20944/preprints202007.0217.v1).

Abstract

We present the design and overall development of an eight degrees of freedom (DOF) based Bioinspired Quadruped Robot (BiQR). The robot is designed with a skeleton made of cedar wood. The wooden skeleton is based on exploring the potential of cedar wood to be a choice for legged robots’ design. With a total weight of 1.19 kg, the robot uses eight servo motors that run the position control. Relying on the inverse kinematics, the control design enables the robot to perform the walk gait-based locomotion in a controlled environment. The robot has two main aspects: 1) the initial wooden skeleton development of the robot showing it to be an acceptable choice for robot design, 2) the robot’s applicability as a low-cost legged platform to test the locomotion in a laboratory or a classroom setting.

Subject Areas

Bio inspired robot; legged Robot; locomotion; position control; walk gait; wooden robot

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