Bond Graph Modelling and Simulation of Planar Quadruple Robot with Different Gaits

摘要

Legged robots have capability of traversing on any type of terrain with much ease and stability compared to wheeled robots. The legged robots do not have continuous contact with ground, and thus, it is easy to avoid obstacles. The objective of this paper is to model and simulate a walking mechanism for quadruple model that is stable and is able to implement different types of gaits. The stability control of legged robot is of utmost importance as compared to wheeled robot as contact from ground is discontinuous due to lifting and placing of leg. The positing of legs relative to body of robot considerably affects the stability, and also the sequence and timing in which legs are moved and placed play important role in energy efficiency. Here, model of quadruped robot with four legs has been developed using bond graph technique. Results from simulation are discussed. The comparison of different gaits is made for energy efficiency.