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Path Follower Quadrupedal Robot

FYP 2 SEM 2 2019/2020

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Main Author: Misbah Abd Elrahim Tah Elsir
Format:
Language:English
Published: 2023
Subjects:
Quadrupedal
Kenamatics
Robot
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id my.uniten.dspace-21490
record_format dspace
spelling my.uniten.dspace-214902023-05-04T16:40:47Z Path Follower Quadrupedal Robot Misbah Abd Elrahim Tah Elsir Quadrupedal Kenamatics Robot FYP 2 SEM 2 2019/2020 Quadruped Robot is a four-legged robot that has the ability to perform many tasks, including walking and moving on flat ground as well as its ability to walk on rough terrain. This robot is based on simulating animals or four-legged insects by imitating the movements that these animals make. The most popular movements this robot uses to move are: walking, running, and jogging with jumping. The walking movement that was implemented in this paper is to move the legs one after the other during a certain period of time and after the leg has reached the appropriate place another leg begins to move again. This rhythm is used in the movement in order to ensure that three legs remain attached to the ground to achieve stability during the raised leg's travel period. During the process of raising one of the legs, a resulting triangle will consist of projection the points of fixing the rest of the three legs with the centre of the robot on the ground. The mission of this robot is to stay stable during these movements, so in this paper also the movement of the robot has been analysed with regard to walking (Stability Margins) needs to be analysed by calculating the Stability margin and then calculating the special kinematic equations to obtain the position of the leg tip on the ground necessary to achieve the slow stability (Creeping Gait) of the robot while walking. Then, the results necessary to achieve this stability were obtained through the legs of the legs on the ground. 2023-05-03T17:03:20Z 2023-05-03T17:03:20Z 2020-02 https://irepository.uniten.edu.my/handle/123456789/21490 en application/pdf
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
language English
topic Quadrupedal
Kenamatics
Robot
spellingShingle Quadrupedal
Kenamatics
Robot
Misbah Abd Elrahim Tah Elsir
Path Follower Quadrupedal Robot
description FYP 2 SEM 2 2019/2020
format
author Misbah Abd Elrahim Tah Elsir
author_facet Misbah Abd Elrahim Tah Elsir
author_sort Misbah Abd Elrahim Tah Elsir
title Path Follower Quadrupedal Robot
title_short Path Follower Quadrupedal Robot
title_full Path Follower Quadrupedal Robot
title_fullStr Path Follower Quadrupedal Robot
title_full_unstemmed Path Follower Quadrupedal Robot
title_sort path follower quadrupedal robot
publishDate 2023
_version_ 1806425590159376384
score 13.211869

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