Analysis, Prototyping and Locomotion Control of a Quadruped Robot

  • Lucas Souza Technology Innovation Institute
  • Felipe Mohr SENAI CIMATEC
  • Brenda Alencar SENAI CIMATEC


With the growth of robotics, mobile robots are increasingly becoming common in key sectors of the economy. When compared to wheeled and tracked robots, legged robots present greater mobility and maneuverability, but less locomotion stability, which in turn demands more complex control systems. This paper aims to develop a quadruped robot with a PID stabilization controller to compensate for the body oscillation during the walk. For that, the gait planner and the kinematic model algorithm were implemented. After designing and manufacturing the robot, experiments were conducted to assess the robot’s locomotion performance when using the stabilization controller in flat and uneven terrains. It was observed that the stabilization controller contributed to reducing the oscillation of the robot’s body in both roll and pitch angles in both terrains.
Palavras-chave: Quadruped robot, locomotion control, kinematic model, gait planner
SOUZA, Lucas; MOHR, Felipe; ALENCAR, Brenda. Analysis, Prototyping and Locomotion Control of a Quadruped Robot. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 15. , 2023, Salvador/BA. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2023 . p. 129-134.