Designing a Quadruped with Stair Parameter Analyzing and Climbing Capability

摘要

The work presented here deals with the design of a quadruped capable of analyzing stair parameters and climbing stairs. Projected system describes the mechanical configuration of a quadruped. The leg consists of three rotary joints actuated by servo motors. The forward and inverse kinematic equations, joint driving torque equations are derived under all assumptions. For mobile robots to function autonomously, advanced sensing and algorithms are needed, for instance, to do localization, path planning, and decision making. Proposed robot will be designed for analyzing the stair parameters by means of image processing for finding edges, height of the stairs and accordingly the joint variables will be adjusted to generate movement.