Implementation of a Three-Legged Omnidirectional Hopping Robot

  • Abstract
  • Keywords
  • References
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  • Abstract

    In this work, we present the design and implementation of a three-legged robot that employs hopping as a means of locomotion while maintaining stability throughout the motion process.  The developed three-legged hopping robot follows a tripod structure to house all the electronics and actuators.  It is also radio-controlled, thereby, allowing flexibility and range to its users to control the direction and movement.  A commercially off-the-shelf Arduino-based microcontroller is used to implement sensing, control and actuation of the tripod.  The hopping mechanism is dependent on a heuristic approach by knowing beforehand the maximum height the three-legged robot can clear during its hop.  During locomotion via hopping, a chosen leg is set to provide a different output force from the two other legs in order to move the robot to a specified direction. We tested the platform on even and uneven surfaces to determine its performance while maintaining stability.



  • Keywords

    Arduino-based Microcontroller; Hopping Algorithm; Omnidirectionality; Three-legged Hopping Robot

  • References

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Article ID: 21782
DOI: 10.14419/ijet.v7i4.16.21782

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