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LGRB018: 2 LEGGED WALKING ROBOT
Scope of work/research and key features
Understanding of ‘Mechanical Designing’.
Development of Robot chassis and control.
Concept of ‘Degree of Freedom’.
Concept of ‘Positional control’.
Concept of ‘End Effectors’.
Understanding of ‘Locomotion mechanism & environment’.
Effectiveness of leg joints relating to the walking.
Locations of leg joints.
Movable extent of leg joints.
Dimension, weight and center of gravity of a leg.
Torque placed on leg joints during the walking
Sensors relating to the walking.
Grounding impact on leg joints during the walking.
PCB designing and Circuit designing
PCB development, Component mounting and soldering.
Testing of the circuit.
Traditionally, most mobile robots have been equipped with wheels. The wheel is easy to controland direct. It provides a stable base on which a robot can maneuver and is easy to build. One of themajor drawbacks of the wheel, however, is the limitation it imposes on the terrain that can besuccessfully navigated. A wheel requires a relatively flat surface on which to operate. Rocky or hillyterrain, which might be found in many applications as forestry, waste clean-up and planetaryexploration, imposes high demands on a robot and precludes the use of wheels. A second approachto this problem would be to use tracked wheel robots. For many applications this is acceptable,especially in very controlled environments. However, in other instances the environment cannot becontrolled or predicted and a robot must be able to adapt to its surroundings. Such a surroundingcan be places where robots would have to step over the obstacles such as a surface where pipes arerunning and where they have to move on discontinuous terrain like steps. Research into leggedrobotics promises to overcome these difficulties.The complexity of control required for a legged robot to navigate over unfamiliar terrain has madethem difficult to build. Recent developments in embedded controller technology have yielded very