Study the Leg Mechanism of a Four Legged Field Robot

Abstract

Leg mechanism, leg and body motion control are the major issues of a four legged field
robot. Therefore, leg making process and motion control of a four legged robot are discussed
in this paper. During making a four legged field robot many difficulties are faced. This paper
also focused on the difficulties to build the robot. In 20th century, many mathematical
methods are introduced for smooth control of linear as well as nonlinear motion of dynamic
system. Sensor, actuator and control algorithm are commonly used to build up field, aerial as
well as under water robot. Among different types of field robots wheeled robots are
commonly built because compare to aerial and under water robot these are easier to control.
On the other hand, there are various limitations of wheeled robot such as move on stairs and
rough topography. Therefore, to overcome these problems, in the present study, a four legged
robot is developed. During development of a four legged robot many difficulties are arisen
such as proper electric motor selection, leg mechanism and motion control as well as
synchronization of movement of four legs for steady motion of the robot.