Design and Optimization of All-Terrain Walking Robot

Abstract

The ability of the All-Terrain robot to walk on various terrains motivates many researchers to explore the structural design strategies and control methods of the system.They are effective in rough terrains. The legs of the robot with more than 1-dof is found to be more effective, however it is very complicated to design and control.

The present work involves development of an optimized quadruped robot. The legs of robots are based on Klann’s mechanism, which has been optimized to follow a set trajectory with timings. The legs enable the quadruped robot to cross on various terrains with the least time possible. The simulation of Klann’s mechanism has been carried out considering concerned parameters such as torque, force, time and speed. The robot feet are designed based on fractal geometry to have maximum contact surface, to help in balancing on rough terrain. Based on results obtained the robot leg exhibits good stability with non-uniform terrain