Power optimal inverse kinematics for quadruped robot

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Our world of today has become complex and sophisticated, and so have our problems. One of the eye-opening solutions to these problems has been made available through science and technology. Science and technology have given humans the opportunity to engineer life changing solutions. One of these life-changing solutions is a robot. This project is aimed at making a power optimal quadruped robot using inverse kinematics. The MSP430 was used in the embedded systems of this project, along with SG90 servo motors which served as the joints between the body, upper limb and lower limb of my 8DOF quadruped robot. The Inverse Kinematics of the robot was achieved usig the Denavit-Hartenberg convention and with this there was a successful achievement of two gait processes, walking and trotting.
Capstone Project submitted to the Department of Engineering, Ashesi University in partial fulfillment of the requirements for the award of Bachelor of Science degree in Electrical and Electronic Engineering, May 2021