Page 101 - Robot Design Handbook ROBOCON Malaysia 2019

Roboten from Universiti Tenaga Nasional

TEAM SUPERVISOR: Dr Mohd Zafri Bin Baharuddin

TEAM ADVISORS: Muhammad Irfan An-Naufal Bin Arifin Aziz Nur Wakhid
Eirfan Hilmie Bin Baharudin

TEAM MEMBERS: Nur Adibah binti Azhar
Ahmad Iqbal Rusmani
Mohd Amirul Hakeem Bin Kamil
Muaz Mingu

ABSTRACT

The leg structure of the MR1 is a dual-joints configuration with 16 RDS3128 servo motors

controlling the hip joints. The robot has a unique feature in that it can turn left or right similar
to how a car turns. It is found that results from testing and simulation of the robot are

different. The usage of servo motors provides difficulty in syncing each motor.

1.0 INTRODUCTION

Mobile Robot Club (MRC) is a club where most robots were built by students and

lecturers and it was started by Dr. Mohd Zafri Bin Baharuddin in 2009. The MR2 is a

quadrupedal robot where the robot uses four legs to move and it is a complex robot. After
analysing the movement of various quadrupedal robots such as Spot and SpotMini from

Boston Dynamic [1], ANYmal from ANYbotics [2], and Massuchusetts Institute of
Technology (MIT) Cheetah 3 [3], there are two types of locomotion with constant

movement. The fastest locomotion for a quadrupedal robot to constantly walking is by
having two legs contacting the ground to propel forward in half a walking cycle while the

other locomotion will have at least three legs contacting the ground while walking which

provide better stability and greater weight capacity for the robot.

The construction of this robot will provide a great challenge and valuable experience

in the robotic field. This report will explain the criteria in designing the robot and in
choosing the suitable components.

97