1 3.

Analysis and simulation

ALGORITHMS
The purpose of this section is to present different types of controller for feedback
system and how to run these mechanical systems with the help of embedded systems.
Controllers are the brain of the quadrupled system. The system is controlled using Closed
loop controller such as PID(Proportional, Integration, Derivation) controller and
LQR(Linear quadratic regulator) controller. The results of both these controller are
simulated using MATLAB which gives real time simulation. Then the system is modified
for slip prevention and again it is controlled by PID and LQR systems.

Closed loop controller:

This section explains the turning of the 4 Legged quadrupled robot and how it
estimates the current position for the given environment by using different types of sensors.
Pneumatic Solenoids Valve: For better controllability 4 sets of 5*2 valves solenoids are
used which are used to actuate all the pistons. It operates on 12V each.

Reed Switch: For better control and to ensure the movement of the piston reed switch Is
used which gives a feedback to the controller for ensuring the touchdown of the legs.The
specification of the reed switch are:

Parameter Values

Lidar sensor: For fence detection, which helps the bot to follow the given path, Lidar
sensor is used which is mounted on a servo which rotates continuously and thus mapping of
the fence is created which helps us to determine the exact position of the bot. Lidar sensor is
also mounted at front of the bot which helps us to adjust the bot before sand dune and
tussock. It is also use to detect the slope of the mountain area.

Parameter Values

IMU(Inertial measurement unit) sensor: This sensor has 9 Degree of freedom, 3 axis
of accelerometer, 3 axis of gyroscope and 3 axis of magnetometer. This gives us pitch, roll
 2 3. Analysis and simulation
and yaw which is only of our interest. As the bot will tend to skid or there is slippage in any
one of the legs then the pitch is send as a closed loop feedback back to the controller. PID
controller will be used which helps to maintain the balanced position of the bot.

Parameter Values

IMU is

Pitch and roll

Σ Σ
readings from PID controller Solenoids
sensor

also
used to control Desired pitch
the yaw and roll
readings so that bot don’t rotate at any angle on the
straight. It also helps for exact turning of the bot.