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Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention

Quadruped robots can mimic animal walking gait and they have certain advantages like walking on terrain and extremely rough surfaces. Obstacles can impede the movement of wheeled vehicles, where a quadruped can adapt to avoid obstacles by adjusting its height. A quadruped robot is designed and devel...

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Detalles Bibliográficos
Autores principales: Atique, Md. Moin Uddin, Sarker, Md. Rafiqul Islam, Ahad, Md. Atiqur Rahman
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Elsevier 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6299039/
https://www.ncbi.nlm.nih.gov/pubmed/30582058
http://dx.doi.org/10.1016/j.heliyon.2018.e01053
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author Atique, Md. Moin Uddin
Sarker, Md. Rafiqul Islam
Ahad, Md. Atiqur Rahman
author_facet Atique, Md. Moin Uddin
Sarker, Md. Rafiqul Islam
Ahad, Md. Atiqur Rahman
author_sort Atique, Md. Moin Uddin
collection PubMed
description Quadruped robots can mimic animal walking gait and they have certain advantages like walking on terrain and extremely rough surfaces. Obstacles can impede the movement of wheeled vehicles, where a quadruped can adapt to avoid obstacles by adjusting its height. A quadruped robot is designed and developed for in this paper, which could be controlled by the Android operating system. The Inverse Kinematics Solutions are derived for the developed structure using Denavit-Hartenberg convention and using those solutions the movements are simulated using a custom-made 3D software. An Android application is developed, which is able to control the robot using Bluetooth. The robot currently has following six different movements: front, back, left, right walking, clockwise and anti-clockwise rotation. The robot uses the ultrasound sensor to detect any obstacle closer than 300 cm (maximum) and if an impediment appears, the robot will automatically move parallel to the obstacle until it is avoided. Currently, it can move at a speed of 15.5 cm/s (approximately). To complete a full rotation of 360°, it takes 6 seconds. It can be used to develop and implement any autonomous path-planning algorithm.
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spelling pubmed-62990392018-12-21 Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention Atique, Md. Moin Uddin Sarker, Md. Rafiqul Islam Ahad, Md. Atiqur Rahman Heliyon Article Quadruped robots can mimic animal walking gait and they have certain advantages like walking on terrain and extremely rough surfaces. Obstacles can impede the movement of wheeled vehicles, where a quadruped can adapt to avoid obstacles by adjusting its height. A quadruped robot is designed and developed for in this paper, which could be controlled by the Android operating system. The Inverse Kinematics Solutions are derived for the developed structure using Denavit-Hartenberg convention and using those solutions the movements are simulated using a custom-made 3D software. An Android application is developed, which is able to control the robot using Bluetooth. The robot currently has following six different movements: front, back, left, right walking, clockwise and anti-clockwise rotation. The robot uses the ultrasound sensor to detect any obstacle closer than 300 cm (maximum) and if an impediment appears, the robot will automatically move parallel to the obstacle until it is avoided. Currently, it can move at a speed of 15.5 cm/s (approximately). To complete a full rotation of 360°, it takes 6 seconds. It can be used to develop and implement any autonomous path-planning algorithm. Elsevier 2018-12-17 /pmc/articles/PMC6299039/ /pubmed/30582058 http://dx.doi.org/10.1016/j.heliyon.2018.e01053 Text en © 2019 The Authors. Published by Elsevier Ltd. http://creativecommons.org/licenses/by-nc-nd/4.0/ This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
spellingShingle Article
Atique, Md. Moin Uddin
Sarker, Md. Rafiqul Islam
Ahad, Md. Atiqur Rahman
Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention
title Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention
title_full Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention
title_fullStr Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention
title_full_unstemmed Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention
title_short Development of an 8DOF quadruped robot and implementation of Inverse Kinematics using Denavit-Hartenberg convention
title_sort development of an 8dof quadruped robot and implementation of inverse kinematics using denavit-hartenberg convention
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6299039/
https://www.ncbi.nlm.nih.gov/pubmed/30582058
http://dx.doi.org/10.1016/j.heliyon.2018.e01053
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