Development of Control Systems for Valve Rotation Operations using Quadruped Robots

Abstract

The growing need for robotics in hazardous environments, such as those encountered during natural disasters and industrial accidents, highlights the importance of automation to improve safety and operational efficiency. Manual tasks such as turning valves pose significant risks due to unstable and dangerous conditions. This study focuses on the development of a quadruped robot equipped with a manipulative arm to address these challenges. The legged design of the robot offers stability and mobility across uneven terrain, while its arm enables precise manipulation tasks. The primary goal is to develop a low-level control strategy capable of handling unexpected disturbances during valve operations. This involves characterizing environmental challenges, optimizing control strategies, and refining algorithms through extensive simulations. The proposed system aims to improve safety and performance in high-risk operations, with simulations that validate the control strategy before real-world deployment.