Page 314 - Robot Design Handbook ROBOCON Malaysia 2019

toward a check point, called Mountain Urtuu. Therefore, to ensure that this robot could

perform its task successfully, the programming algorithm in Figure 6 is designed before
actual programming is built and transfered to robot’s controller.

Figure 7: Programmed algorithm of the autonomous robot the MR2

The MR2 must receive the Gerege on its gripper before the robot can start to move

towards Mountain Urtuu. After the robot successfully receive the Gerege, it then searches
whether there is an uneven terrain or rope in its direction. If no obstacle is detected, the robot

moves towards Mountain Urtuu by following the directed line. The robot will try to cross

over the obstacle if it detects the uneven terrain or a rope in its walking direction.

3.0 DATA ANALYSIS

This the MR2 was designed in O configuration morphology of quadruped robot as
presented in [5]. Load torque and temperature tests were conducted to evaluate the robot

performance during locomotion. Table 3 summarizes the results of the evaluation test.
Table 3: AX-12A specification
Ready to walk During walk After walk
(2 minutes standby) (3 minutes walk) (1 minutes standby)
ID
Operating Temperature Operating Temperature Operating Temperature
Torque Range (°C) Torque Range (°C) Torque Range (°C)
10 6.25% 34 - 39 13.28% 43 - 44 6.25% 49 - 50
12 9.38% 34 - 45 14.84% 48 - 50 12.50% 50 -51
14 6.25% 34 - 39 4.39% 44 - 47 7.03% 51 - 52

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