Modeling and Simulation for One Leg of Quadruped Robot Trajectory

In legged robot movement planning, the leg must be carefully design before trajectory analysis can be done. The objective of this paper is to develop a 3 DOF leg which will be used in quadruped robot. In addition, forward kinematic and comparison between real and simulation of the leg is presented. To achieve the objective, SolidWorks 2013 x64 Edition is used to develop the 3D modeling of the leg while SimMechanics with First Generation Format was applied to export the models to Simulink. For the comparison purposes, real model of 3 DOF leg with Arduino Pro Mini 328 - 5V/16MHz as a microcontroller to control the rotation of three servomotors was constructed. With MIT AI2 Companion software, android apps is developed to send signal to rotate each servomotor wirelessly. The zero position of the leg robot has been determined and the maximum rotation range of each servomotor. This is very important in determination of D-H Parameters which allow the resolving of kinematics problems. It is found that specific rotations of each servomotor provide the trajectory pattern of the leg which is compared through Simulink and real model. Nevertheless, there are errors between simulation and real position of the robot leg due to the open loop system.