Development of quadruped walking robot with passive compliance legs using XL4005 buck converter

Abstract

A quadruped walking robot has an advantage on uneven terrains. In a real-world application, robots can carry heavy loads and can scout in a dangerous area. The main disadvantages of walking robots are relatively slow and high energy consumption. In recent years developed quadruped robots are mimicking several kinds of mammals. Bio-inspired mechanisms are helping to improve the overall performance. The implementations have reduced energy consumption, enhance stability, and a more comprehensive range of locomotion - this article introduces a quadruped robot with passive-compliance three segments' legs. The leg compliance is implemented by adding an elastic spring to the leg. From the experiment conducted, the fabricated quadruped walking robot's average walking speed is 0.06850 m/s.