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These data were collected from one of the legs of the quadruped robot. ID 10 and 12

represent the thigh yaw and pitch joint, respectively. ID 14 represents the ankle pitch joint.
From the results, we can conclude that the servo motor at thigh pitch joint (ID 12) receives

highest load during the operation. The temperature increases from 34 °C before walk to 52
°C after walking about six minutes. This result indicates that the robot could performthe

task within three minutes to compete in ROBOCON 2019 games.

4.0 CONCLUSIONS

This report presents the design and architecture of the MR1 and the MR2 robot of
PUO ROBOCON team that competed in the ROBOCON Malaysia 2019 competition. We

thank them for the support and encouragement.

5.0 ACKNOWLEDGEMENTS
This project is supported by Ungku Omar Polytechnic and Jabatan Pendidikan

Politeknik dan Kolej Komuniti (JPPKK).

References

[1] M. Jaishree, 2018, Design and implementation of omni-wheel robotic system under
automatic height control and adaptation Design and Implementation of Omni-Wheel
Robotic System Under Automatic height control and adaptation,” No. January.

[2] A. Phunopas and S. Inoue, 2018, Motion Improvement of Four-Wheeled
Omnidirectional Mobile Robots for Indoor Terrain,” J. Robot. Netw. Artif. Life, Vol. 4,
No. 4: 275.

[3] Palivela Arun Kumar et.al., 2017, Design of a Quadruped Robot and its Inverse
Kinematics,” Int. J. Mech. Prod. Eng. Res. Dev., Vol. 7, No. 4, pp: 241–252.

[4] M. Couto, C. P. Santos, and J. Machado, 2014, Modelling and design of a
tridimensional compliant leg for bioloid quadruped,” Appl. Math. Inf. Sci., Vol. 8, No.
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[5] D. Dholakiya et al., 2019, Design, Development and Experimental Realization of a
Quadrupedal Research Platform: Stoch, No. January.

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