Walking on uneven terrain is always a benchmark problem for autonomous guided vehicles. In the present work, the same issue is dealt with the help of a legged mobile robot. Various comparisons are made among two, four, and sixlegged walking machine and a four-legged walking machine is selected based on the suitability criterion. In this paper, the emphasis is given for minimization of the design and controlling complexities for the four-legged walking machine. A prototype devised to test various gaits. For the walking and turning, an improved gait is presented. The legs are designed with one degree of freedom each. The actuation is tested on normal DC geared motors as well as DC servo motors. A comparison is made between the two actuators. For proper walking, a control scheme is prepared and real time tests are performed by implementing it on the Arduino microcontroller. The present work is helpful to analyze the performance of a legged autonomous walking machine on unstructured environment.
Keywords: Walking Machining, Legged AGV, Mobile Robotics, Servo Motor Control