Bhavya Giri Goswami, Aman Verma
Most quadrupeds developed today are highly actuated, making their control cumbersome and necessitating advanced electronics for continual solving of complex inverse kinematic equations. Furthermore, conventional distance sensors often fail due to the disturbances caused by the robot's motion, and maintaining constant dynamic stability during locomotion requires sophisticated control algorithms. This paper presents a comprehensive overview of the hardware design and control architecture for PRISMA, our in-house prismatic joint quadruped robot. The primary objective is to create a robust and kinematically stable quadruped robot capable of using basic control algorithms and common sensors to navigate through unknown environments. We evaluate the robot's performance in terms of its movement capabilities, various foot trajectories, manufacturability, and control strategies, highlighting both its advantages and limitations. The findings aim to contribute to the ongoing development of legged robots in overcoming the limitations of wheeled robots, particularly in uneven terrain navigation.
@article{65dfae01-973c-4ab9-920c-e6e21b58b34d,
title={Prismatic},
author={Bhavya Giri Goswami and Aman Verma},
year={2016},
language={English}
}TY - JOUR TI - Prismatic AU - Bhavya Giri Goswami AU - Aman Verma PY - 2016 LA - English ER -
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