Control System for Center of Mass Position and Angle in Quadruped Robots

The present research presents a control system for a quadruped robot based on software architecture made in ROS2. This system is designed to allow precise and stable navigation of the quadruped in complex and potentially hazardous industrial environments, under the supervision of an operator. The project integrates inverse and direct kinematics algorithms for position and orientation control, allowing the robot to adapt to different configurations and needs. In addition, an intuitive graphical user interface (GUI) was designed and implemented, which allows remote control of the robot's functions, such as position, orientation and gait speed, while monitoring its environment and configuration in real time, which together with its adaptability results in reliable industrial monitoring. Validations and tests are presented both in virtual environments and with the real robot, which demonstrated its adaptability and accuracy. This work contributes to the advancement of mobile robotics applied to industry, highlighting the use of quadrupeds as effective tools for monitoring, inspection and operations in areas of difficult access or high risk.