Publication Type : Conference Paper
Source : Elsevier Materials Today: Proceedings
Url : https://www.sciencedirect.com/science/article/abs/pii/S2214785320380494
Campus : Amritapuri
School : School of Engineering
Department : Mechanical Engineering
Year : 2020
Abstract : This work presents the development of a control algorithm for an insect type four-legged robot which contains hips, torso and legs joints. The mechanical design is inspired by the locust insect. ROS is adapted because it provides a reliable mechanism for fast robot development and algorithm reuse. We presenting the control algorithm which helps to robot get stable and balanced walking locomotion in a given environment, also able to perform task like avoiding static obstacles. This control algorithm is validated in a simulation environment GAZEBO, RVIZ.
Cite this Research Publication : Virbhadrappa Kalburgi, P.M. James, Pramod Sreedharan “Control system design for four-legged walking robot with insect type leg using ROS”, Elsevier Materials Today: Proceedings, https://doi.org/10.1016/j.matpr.2020.10.428