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threshold, then proceed with another climb up motion. The same process occurs during the

climb-down motion. The turning point that we use is 330 for climb-up and 280 for climb-
down.

4.0 CONCLUSION

There are a lot of improvement that can be made. For example, we can use external

sensors technology that allows the MR1 to have feed-back on its current location, and based

on that information we can allow the MR1 to carry out all the necessary tasks autonomously.
For the MR2, with improved mechanical design and the usage of lighter material, it will be

able to walk faster and more efficiently. The limitation of the MR1 is the weight distribution
because the throwing mechanism in front of the robot has caused the center of gravity of the

robot to shift towards the front. Another limitation is the vibration coming from the

movement due to the lack of suspension system. The limitation of the MR2 is due to the
expensive price of the motor.

References

[1] What is Projectile? n.d., Retrieved from the Physics Classroom:
https://www.physicsclassroom.com/class/vectors/Lesson-2/What-is-a-Projectile
[2] Equilibrium and Statics. n.d., Retrieved from the Physics Classroom:
https://www.physicsclassroom.com/class/vectors/Lesson-3/Equilibrium-and-Statics
[3] Elijah, J., 2016, How to Program a Quadruped Robot with Arduino. Retrieved from
Make:: https://makezine.com/2016/11/22/robot-quadruped-arduino-program/

[4] Mordvintsev, A., & K., A. 2013, OpenCV-Python Tutorials. Retrieved from OpenCV:
https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_tutorials.html

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