Simulación e implementación de la locomoción de un robot cuadrúpedo para fines didácticos

Abstract

This document presents the simulation and implementation process of a quadrupedal robotic prototype, with the purpose of imitating certain characteristic movements of four-legged animals. The physical prototype was assembled after previously designing each part in CAD modeling software. To achieve the movement, 2 servo motors were used for each leg, controlled by the Raspberry Pi 3 B+ board through a servo controller module. The robot is controlled by Bluetooth commands, which give it the orders to carry out the movements. In addition, a simulation was performed in MATLAB and Simulink of the prototype, which shows the trajectory of each leg when moving in space with the intention of advancing on a flat surface. The result of this project is a functional prototype of a quadrupedal robot with the ability to move and be controlled by Bluetooth commands, accompanied by a simulation that shows the path that each leg takes when moving. Thanks to these functions, a person who is new to robotics can observe the simulation and understand what type of movement the robot performs in order to walk, thus, with the intention of learning and interacting with the robot, they can program commands so that the prototype performs the movements that the person wants, thanks to the intuitive Python code explained in this document, and programming based on angles, and control these movements by Bluetooth, obtaining basic knowledge of programming and robotics.