A Quadruped Robot with Limbs Integrating Linear Actuator and Revolute Joints

This paper aims to develop a cost-effective quadruped robot capable of navigating diverse terrains and environments addressing the limitations of wheeled vehicles. Quadruped robots hold great potential in various industries, including agriculture, security and unmanned ground vehicles(UGV). Normally, a quadruped robot's leg is designed to replicate an animal's leg using three revolute joints, however, this paper presents a design that uses a linear actuator and revolute joints on each leg. This helps in reducing the load on motors and enhances the payload carrying capacity as the linear actuators take the major load. This paper work also includes simulation using software and hardware implementation to develop a control strategy for efficient and smooth leg motion considering factors like the robot's weight, gaiting, balance and speed.