Quadruped Robot Gait Planning for Enhanced Locomotion and Stability

Singh, Rakesh; Kotecha, Radhika

doi:10.2139/ssrn.3572191

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Quadruped Robot Gait Planning for Enhanced Locomotion and Stability

Proceedings of the 3rd International Conference on Advances in Science & Technology (ICAST) 2020

4 Pages Posted: 10 Apr 2020

See all articles by Rakesh Singh

Rakesh Singh

University of Mumbai - K. J. Somaiya Institute of Engineering and Information Technology (KJSIEIT)

Radhika Kotecha

University of Mumbai - Department of Information Technology

Date Written: April 8, 2020

Abstract

Multilegged robots, especially Quadruped robots are gaining more importance due to their flexibility and adaptability to the environment. Mobility is one of the challenges in quadruped robots. Building a robot with smooth and stable locomotion will have wider applications in business and home. This paper focuses on the approach to be followed to implement gait planning to ensure smooth walking and stability for a quadruped robot with the use of artificial intelligence. A quadruped robot will be first created in simulation environment for training. Later we will develop a 4-legged quadruped robot having 12 degrees of freedom and implement improved gait planning for smooth locomotion and stability. Simulation and modelling of the robot will be carried out using simulation tools like Pybullet, Solidworks, etc.

Keywords: Quadruped Robot, Gait Planning, Stable Locomotion, Artificial Intelligence

Suggested Citation: Suggested Citation

Singh, Rakesh and Kotecha, Radhika, Quadruped Robot Gait Planning for Enhanced Locomotion and Stability (April 8, 2020). Proceedings of the 3rd International Conference on Advances in Science & Technology (ICAST) 2020, Available at SSRN: https://ssrn.com/abstract=3572191 or http://dx.doi.org/10.2139/ssrn.3572191