Nowadays we can see more and more the results of the rapid developments of walking robots. Various humanoid and quadruped models have emerged from the market mainly in the entertainment, toy industry and in the military. These models will attain more complexity and semblance of life with the passage of time, and this tendency is only going to improve in the future, when we will reach the point, where our four-legged robotic company will be part of the everyday life.
Today, even all things considered, this branch of robotics is still in its infancy. The reason is twofold, the first one is the slow development of artificial intelligence softwares and the second is the complexity of the softwares responsible for image recognition and for motion planning and body control.
During the semester I took part in a team work, we developed a quadruped walking robot from scratch. As part of my task, I created the mathematical model of the robot, where the transformations are represented in the conventional homogeneous coordinate forms used conventionally in robotics. Subsequently we developed the motion planning and computer simulation of the robot where my task was to find a solution for the relocation of the robot’s mass center.
Finally I tested the algorithms on a pre-built prototype and made its calibration. Based on the experiences acquired during the experiments done on the prototype I designed a new structural body for the robot.