Development of a Walking Robot as a Personal Assistant
Disciplines
Robotics
Abstract (300 words maximum)
The personal assistant robot market is growing, yet most of the current models are either too complicated, expensive, or too simplistic to be practical. This study aims to create a low-cost and efficient tripedal robot by reducing mechanical complexity without sacrificing the stability of motion. Unlike conventional designs using numerous actuators and complex control systems, this project aims at efficiency and cost-effectiveness. It aims to develop a user-friendly and stable robot system designed to aid individuals in an indoor setting. Through the creation of locomotion mechanisms and motion optimization, this study enables the development of practical and usable assistive robotic devices.
The researchers initially designed the robot model using SolidWorks, conducting simulations using SolidWorks Motion Analysis and MATLAB Simulink to analyze movement dynamics. The early prototypes were unstable, with the back leg lacking sufficient weight to facilitate front-leg lifting, resulting in a caterpillar-like gait. To address this, weight was added to the back leg, which improved front-leg lift and produced a gait pattern that resembled a crutch-assisted gait. Though this revision has increased mobility, friction is still a significant obstacle. Future iterations will continue weight distribution optimization and minimize forces of friction. Additionally, the design team will move away from entirely 3D-printed components to VEX Robotics parts to increase durability and simplify the prototyping process.
Recent enhancements have drastically improved the locomotion function of the robot from caterpillar-like to a more stable gait. Nevertheless, additional modifications are required to minimize friction and improve the consistency of the movement. The anticipated outcome of the study is to create a foundation for a cost-effective and efficient robotic solution that can be utilized for multiple assistive functions.
Academic department under which the project should be listed
SPCEET - Robotics and Mechatronics Engineering
Primary Investigator (PI) Name
Dr. Amir Ali Amiri Moghadam
Development of a Walking Robot as a Personal Assistant
The personal assistant robot market is growing, yet most of the current models are either too complicated, expensive, or too simplistic to be practical. This study aims to create a low-cost and efficient tripedal robot by reducing mechanical complexity without sacrificing the stability of motion. Unlike conventional designs using numerous actuators and complex control systems, this project aims at efficiency and cost-effectiveness. It aims to develop a user-friendly and stable robot system designed to aid individuals in an indoor setting. Through the creation of locomotion mechanisms and motion optimization, this study enables the development of practical and usable assistive robotic devices.
The researchers initially designed the robot model using SolidWorks, conducting simulations using SolidWorks Motion Analysis and MATLAB Simulink to analyze movement dynamics. The early prototypes were unstable, with the back leg lacking sufficient weight to facilitate front-leg lifting, resulting in a caterpillar-like gait. To address this, weight was added to the back leg, which improved front-leg lift and produced a gait pattern that resembled a crutch-assisted gait. Though this revision has increased mobility, friction is still a significant obstacle. Future iterations will continue weight distribution optimization and minimize forces of friction. Additionally, the design team will move away from entirely 3D-printed components to VEX Robotics parts to increase durability and simplify the prototyping process.
Recent enhancements have drastically improved the locomotion function of the robot from caterpillar-like to a more stable gait. Nevertheless, additional modifications are required to minimize friction and improve the consistency of the movement. The anticipated outcome of the study is to create a foundation for a cost-effective and efficient robotic solution that can be utilized for multiple assistive functions.