Artaban: Adaptive Control for Multidirectional Locomotion

This paper introduces Artaban, a quadruped robot designed for hazardous task execution and surveillance in perilous environments. Artaban’s unique leg design integrates cardan and four-bar mechanisms, resulting in intricate kinematics. Our study begins with an examination of the forward and inverse kinematics of Artaban’s legs, followed by the generation of Jacobians for each leg. By employing a Proportional-Derivative (PD) controller, we execute fundamental leg movements. We then delve into the inverse dynamics of the robot and its adaptive control using the Quad Software Development Kit (SDK) library. Through comprehensive simulations and hardware tests, we validate Artaban’s proficiency in executing various step types and movements, while also assessing its resilience to unexpected disturbances and ability to maintain balance.