Power optimal inverse kinematics for quadruped robot

dc.contributor.author	Ocquaye-Nortey, Joshua Nii Yeboah
dc.date.accessioned	2023-05-12T11:44:38Z
dc.date.available	2023-05-12T11:44:38Z
dc.date.issued	2021-05
dc.description	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
dc.description.abstract	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.
dc.description.sponsorship	Ashesi University
dc.identifier.uri	https://hdl.handle.net/20.500.11988/866
dc.language.iso	en
dc.title	Power optimal inverse kinematics for quadruped robot
dc.type	Capstone project	en

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