Quadruped Robot 1: Conception

Quadruped Robot 1: Conception

Robots are supposed to move, for most people that means wheels or tracks, but why not zoidberg a walking robot? Good answers are "Because they are hard!", "Because the movement is complex!" or "Because the parts are expensive!", but for the sake of the project, let's disregard the non-believers.

My chosen frame is a 4-legged robot with 3 degrees of freedom in each leg, which means the feet can be moved (almost) freely in the 3d space around the robot. This implies 2 things:

  • The robot body can independently moved and tilted on 3 axis.
  • Doing so requires some math for the inverse kinematics

For the software I chose python, for being an easy and fast to code language. In the event of CPU shortage, C/C++ code can be used to enhance Python's speed.

The original plan was to (chronologically sorted):

  1. Decide what components to use.
  2. Design the body.
  3. Work on the Inverse Kinematics while designing and waiting for pieces
  4. Assemble.
  5. Get the IK working on the Assembled body.
  6. Implement IMU(Inertial Measurement Unit) reading on the code.
  7. Make the robot able to stay level on unstable surface.
  8. Make the robot walk sensorlessly.
  9. Take sensors in consideration.

Each of these steps will be documented on It's own post as the project develops.