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Open AccessArticle

Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot

Engineering Product Development Pillar, Singapore University of Technology and Design (SUTD), Singapore 487372, Singapore
Department of Mechanical Engineering, Politecnico di Milano, 20133 Milan, Italy
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(1), 94;
Received: 7 November 2018 / Revised: 10 December 2018 / Accepted: 17 December 2018 / Published: 27 December 2018
(This article belongs to the Special Issue Advanced Mobile Robotics)
This paper firstly presents the design and modeling of a quadruped wheeled robot named Tarantula. It has four legs each having four degrees of freedom with a proximal end attached to the trunk and the wheels for locomotion connected at the distal end. The two legs in the front and two at the back are actuated using two motors which are placed inside the trunk for simultaneous abduction or adduction. It is designed to manually reconfigure its topology as per the cross-sections of the drainage system. The bi-directional suspension system is designed using a single damper to prevent the trunk and inside components from shock. Formulation for kinematics of the wheels that is coupled with the kinematics of each leg is presented. We proposed the cost-effective method which is also an on-site approach to estimate the kinematic parameters and the effective trunk dimension after assembly of the quadruped robot using the monocular camera and ArUco markers instead of high-end devices like a laser tracker or coordinate measurement machine. The measurement technique is evaluated experimentally and the same set up was used for trajectory tracking of the Tarantula. The experimental method for the kinematic identification presented here can be easily extended to the other mobile robots with serial architecture designed legs. View Full-Text
Keywords: design and modeling; kinematics; kinematic identification; monocular vision design and modeling; kinematics; kinematic identification; monocular vision
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MDPI and ACS Style

Hayat, A.A.; Elangovan, K.; Rajesh Elara, M.; Teja, M.S. Tarantula: Design, Modeling, and Kinematic Identification of a Quadruped Wheeled Robot. Appl. Sci. 2019, 9, 94.

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