Design , Analysis and Fabrication of Quadruped Robot with Four bar Chain Leg Mechanism

The paper presents design, analysis and fabrication of a 1.71 Kg. quadruped robot which incorporates four bar chain leg mechanism as its locomotion element. The main objectives of this paper are mechanical design, gait analysis and fabrication of quadruped robot. Quadruped robot designed and fabricated here involves 8 degrees of freedom which are controlled by servomotors and it walks on flat terrain using symmetrical gaits viz. trot and pace. Its locomotion is controlled by controlling angular rotation of servomotors.