Delta-Quad: An omnidirectional quadruped implementation using parallel jointed leg architecture

Abstract

Walking robots are in great demand due to their ability to navigate diverse terrains. Currently, many of the robotic legs in development today are serial or prismatic jointed. Such leg architectures have been proven capable but have high power requirements, are limited in overall motion and are relatively slow. This paper discusses the development of a parallel jointed leg, Delta-Leg, that capable of advanced locomotive gaits. The mechanical design and kinematics of a physical working prototype developed is discussed. ANFIS (Adaptive Neural-Fuzzy Inference System) is utilized to describe the inverse kinematics and implement control of the robot. Four Delta-Legs are combined to produce a walking quadruped; Delta-Quad. A simulated model is generated to verify and test the walking capabilities of the Delta-Quad. A physical prototype is constructed to implement a basic omnidirectional walking gait. Both the simulated and physical Delta-Quad models are successful in omnidirectional locomotion.