Assembly and development of a test bench for quadruped robots

• Grant number: 22/00354-6
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: June 01, 2022
• End date: May 31, 2023
• Field of knowledge: Interdisciplinary Subjects
• Principal Investigator: Vivian Suzano Medeiros
• Grantee: Otávio Unêda Trevisoli
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 18/15472-9 - Hydraulic actuation impedance control for robots with legs and arms, AP.JP

Abstract

The research and development of legged robots have gained a lot of attention in recent years, due to the high mobility of these robots in terrain with obstacles, making them ideal for use in industrial, agricultural, and offshore environments. In these cases, it is important that the robot's locomotion system is robust to move under different conditions. In this context, this research project proposes the construction of a test bench for a 3-degree-of-freedom leg of a quadruped robot actuated by brushless electric motors. This bench will allow the testing and tuning of different types of dynamic and kinematic motion controllers. The purpose of the tests is to analyze the leg response time, reaction forces, and controller performance for different movements. The controller performance analysis will be carried out through the reading of position, speed, and force sensors coupled to the system.(AU)