Design, Fabrication and Gait Planning of Alligator-inspired Robot

Authors

  • Shaurya Shriyam Mechanical Engineering, Indian Institute of Technology Kanpur, India Author
  • Anand Mishra Mechanical Engineering, Indian Institute of Technology Patna, India Author
  • Debashish Nayak Mechanical Engineering, Indian Institute of Technology Guwahati, India Author
  • Atul Thakur Mechanical Engineering, Indian Institute of Technology Patna, India Author

Keywords:

gait design, bio-inspired robotics, multi-legged robots, high walks, kinematics, alligator, reptilian locomotion

Abstract

This paper reports design, fabrication, and gait planning based on high walk diagonal trot gait pattern of an alligator-inspired robot having eight degrees of freedom. Each leg of the robot described in this paper has two revolute joints representing the hip and knee respectively which are actuated by servo motors. The body of the robot was fabricated on a CO2 laser cutting machine. The 3D leg design was dividdinto two 2D components to enable manufacturing on a laser cutting machine to reduce fabrication cycle time. Finally, a general-purpose kinematics based model has been reported that is used to design and implement a high-walk gait on the developed robot.

References

Downloads

Published

2014-02-28

Issue

Special Issue-2 (Feb 2014)

Section

Articles

How to Cite

Design, Fabrication and Gait Planning of Alligator-inspired Robot. (2014). International Journal of Current Engineering and Technology, 1(2.Special Issue), 567-575. https://ijcet.evegenis.org/index.php/ijcet/article/view/3709