Development of Tendon-Driven Robot Leg Displaying Gait Motion

In recent years, legged robots have gained significant attention in the field of robotics due to their potential applications in industries such as search and rescue, last-mile delivery, and military operations. These robots excel at navigating challenging terrains where their wheeled counterparts face limitations. Achieving efficient and smooth movement is a crucial aspect for legged robots, with locomotion types like hopping and trotting playing a vital role. Precise control of leg joints is essential to ensure stable and efficient motion. This paper presents a lightweight robot leg prototype with two degrees of freedom that accurately mimics animal leg movement during hopping and trotting. Experimental testing was conducted in lab using a specially designed test rig, which would evaluate the prototype’s performance across different ground conditions, facilitating design and control optimization. The modularity of the robot leg prototype allows for easy component replacement and modification. The paper also emphasizes the significance of a robust control system capable of adapting to diverse terrains and effectively handling unexpected disturbances. The paper concludes with the design of the leg prototype with sufficient sensors on board and the test rig for the leg prototype in order to test the control algorithms.