Development of Theo Jansen inspired all-terrain quadruped mini mobile robot

Abstract

This paper discusses an ongoing project of building a quadrupedal robot designed for operations in rugged terrain by using Theo Jansen's linkage mechanism. The robot is unguided, but it is still able to maintain the ability to evade obstacles and change its course automatically. The robot utilizes Jansen's linkage mechanism for all four legs to mimic a four-legged animal's movement and stability. Due to the smooth motion nature, it can provide a very high degree of stability, enabling it to carry items that require a smooth and stable motion. Jansen's linkage mechanism is also easy to operate and design; a pair of legs could also be powered by one rotational movement, reducing overall energy consumption. The quadrupedal robot's goal was to maintain a smooth and stable motion even when navigating obstacles and could ensure item delivery safety. The fabricated robot's average speed is 0.02178 m/s, and the power consumption is 5.71 W.