Publication

Abstract : There are different types of mobile robots used in the ground such as wheeled and legged. Wheeled robots are much efficient in smooth terrain whereas in multi-terrain legged robots are much better. There are from single to multiple legs robots are been made and four-leg has to be found much efficient than other kinds of walking robots. This four-legged robots known as quadruped are much important in walking robots which have better locomotion in the multi-terrain environment than wheel robots. They are dexterous and agile in multi-terrain environment loco-motion. There are many biological mechanism and structure are available in nature we can use in our modeling Insect type legs are one of the structures. This structure is taken in mind to design robot legs of a walking robot. This paper deals with the kinematic analysis along with mechanical design and manufacturing of an eight degree of freedom four-legged insect-type walking robot with two degrees of freedom of each leg.