PI Controller-Based Walking Mechanism of Quadruped Robot on a Side Ramp Path

Abstract

Nowadays, the key research area of many researchers is the walking mechanism of the robot as walking robots are used in many areas such as military, exploring new materials in space etc. The legged robots are much more capable to move on any type of terrain as compared to wheel robots. The focus of this work is to modelling, simulation and control a stable walking system for quadruped robot model. The proposed model of the quadruped robot is validated for side ramp walking without falling down due its weight. The PI controller is developed to control the movement of the quadruped during walking on the side ramp, which is not reported in literature. Initially, modelling of quadruped robot is done using bond graph approach and Simmechanics technique. Results from both methods are compared and discussed. The trot gait is considered for stable walking of quadruped robot. The Proportional-Integral (PI) based control scheme is proposed for locomotion of the robot along desired path. Finally, the case study for validation of proposed model is done for side ramp walking of quadruped robot.