International Journal of Robotics and Autonomous Systems ISSN: 3107-7382 (Online)

Authors: Mahima Tyagi, Karan Sharma, Rupali Patil

Abstract: The key challenges of a four-legged field robot are leg mechanism, leg and body motion control. As a result, this paper discusses the leg-making process and motion control of a four-legged robot. Many obstacles arise with the construction of a four-legged field robot. The problems in building the robot were also discussed in this paper. Many mathematical methods for smooth control of linear and nonlinear motion of dynamic systems were introduced in the twentieth century. Sensors, actuators, and control algorithms are frequently employed in the construction of field, aerial, and underwater robots. Wheeled robots are the most frequent type of field robot because, in comparison to aerial and underwater robots, they are easier to manage. Wheeled robots, on the other hand, have a number of drawbacks, including the inability to navigate stairwells and difficult terrain. As a result, a four-legged robot is constructed in this work to address these issues. Many challenges arise during the building of a four-legged robot, including suitable electric motor selection, leg mechanism and motion control, and synchronisation of movement of four legs for steady robot movements.

Keywords: Four-legged robot, Leg Mechanism, Microcontroller board, Robot movements