Walking Model of Jansen Mechanism-Based Quadruped Robot and Application to Obstacle Avoidance

• Published in: Arabian journal for science and engineering (2011) Vol. 45; no. 2; pp. 653 - 664
• Main Authors: Singh, R., Bera, T. K.
• Format: Journal Article
• Language: English
• Published: Berlin/Heidelberg Springer Berlin Heidelberg 01-02-2020; Springer Nature B.V
• Subjects: Biomimetics; Computer simulation; Controllers; Engineering; Fuzzy control; Fuzzy logic; Humanities and Social Sciences; Locomotion; multidisciplinary; Obstacle avoidance; Research Article - Mechanical Engineering; Researchers; Robots; Science; Ultrasonic testing; Walking; Jansen mechanism; SimMechanics; Obstacle avoidance; Fuzzy logic controller; Quadruped robot
• ISSN: 2193-567X; 1319-8025; 2191-4281
• DOI: 10.1007/s13369-019-04135-8

The walking mobile robots have several advantages as compared to the wheel mobile robots over uneven terrains. The researchers have done a lot to develop different walking mechanisms for legged robots. Due to merits of legged robots such as scalable design, low payload-to-machine load ratio, bio-inspired locomotion, etc., the researchers have shown a great interest in the walking robots based on the Theo Jansen mechanism. In this paper, the dynamic analysis of a four-legged quadruped robot-based upon Jansen mechanism is proposed. The
SimMechanics Toolbox Mathworks
software is used for developing the physical modeling of the quadruped robot. Also, the real quadruped robot based on Jansen mechanism is developed and validated with a simulation model for checking the trajectory tracking performance. The proposed model of the quadruped robot is used for the application of obstacle avoidance. The fuzzy logic controller is proposed to detect and avoid the obstacles by the robots. Three Ultrasonic sensors (HC-SR04) are mounted in front of the robot to detect the obstacles. The validation of simulation and experimental results shows the performances of the navigation and obstacle avoidance fuzzy controller.