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Title: Design of Quadruped Mobile Robot with Strandbeest Walking Mechanism to Overcome Concave and Ramp Type Obstacles
Authors: Kavlak, Koray
Yöngül, Abdullah
Keywords: Legged mobile robot
mechanism simulation
overcoming obstacles
Strandbeest walking mechanism
Machine design
Mobile robots
Dynamics capability
Legged mobile robot
Mechanism simulation
Overcoming obstacles
Strandbeest walking mechanism
Terrain conditions
Tracked robot
Walking mechanism
Wheeled robot
Issue Date: 2022
Publisher: Institute of Electrical and Electronics Engineers Inc.
Abstract: Nowadays, legged mobile robots have the ability to move according to difficult terrain conditions such as rough, sloping and slippery ground compared to wheeled, rail and tracked robots. Due to these dynamic capabilities, they are used in the defense and space industry, load carrying, first aid, search and rescue and many other areas. In this paper, quadruped robot mechanism with Strandbeest walking mechanism, developed by Theo Jansen, was designed to overcome concave and ramp type obstacles. In the Strandbeest mechanism, different trajectories were drawn by changing the link length to overcome concave and ramp type obstacles. The trajectories of the mechanism was created using the GeoGebra program. Solid modeling of the legged robot was made in SolidWorks program. The simulations quadruped mobile robot of with Strandbeest walking mechanism, whose link parameters were optimized, were made in Algodoo program. © 2022 IEEE.
Description: 4th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, HORA 2022 -- 9 June 2022 through 11 June 2022 -- 180434
ISBN: 9781665468350
Appears in Collections:Mühendislik ve Doğa Bilimleri Fakültesi Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collections

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