Treffer: Quadruped Robot Prototype for Agricultural Mobile Robotics ; Prototipo de robot cuadrúpedo para robótica móvil agrícola

Title:
Quadruped Robot Prototype for Agricultural Mobile Robotics ; Prototipo de robot cuadrúpedo para robótica móvil agrícola
Authors:
Cristiano A, Gissel Daniela, Sabogal M, Samuel Alejandro, Fuquen G, David Esteban, Rodriguez, Juan D., Rincón, Juan Carlos, Villanueva, Emily, B. Guerrero, Henry
Source:
Visión electrónica; Vol. 19 No. 1 (2025) ; Visión electrónica; Vol. 19 Núm. 1 (2025) ; 2248-4728 ; 1909-9746
Publisher Information:
Universidad Distrital Francisco José de Caldas
Publication Year:
2025
Collection:
Universidad Distrital de la ciudad de Bogotá: Open Journal Systems
Subject Terms:
Agricultural field, HTML, micropython, Quadruped mobile robot, Raspberry pico, Campo agrícola, robot móvil cuadrúpedo
Document Type:
Fachzeitschrift article in journal/newspaper
File Description:
application/pdf
Language:
English
Relation:
https://revistas.udistrital.edu.co/index.php/visele/article/view/23790/20991; A. O. Hourani y M. Z. Iskandarani, “Design, Modelling, and Analysis of Legged Robot for Terrains Exploration”, Int. J. Adv. Sci., Eng. Inf. Technol., vol. 13, n. º 3, pp. 1127–1128, junio de 2023. https://doi.org/10.18517/ijaseit.13.3.19000 [2] S. Bazeille et al., “Quadruped robot trotting over irregular terrain assisted by stereo-vision”, Intell. Service Robot., vol. 7, n. º 2, pp. 67–69, marzo de 2014. https://doi.org/10.1007/s11370-014-0147-9 [3] A. O. Baturone, Robótica: Manipuladores y Robots Móviles. Marcombo, 2005. [4] X. Gao et al., "Review of Wheeled Mobile Robots’ Navigation Problems and Application Prospects in Agriculture," in IEEE Access, vol. 6, pp. 49248-49268, 2018, doi:10.1109/ACCESS.2018.2868848. [5] Robotics at Home with Raspberry Pi Pico: Build autonomous robots with the versatile low-cost Raspberry Pi Pico controller and Python. Packt Publ., 2023. [6] N. Pudchuen, C. Deelertpaiboon, W. Jitviriya and A. Phunopas, "VENRiR: Vision Enhance for Navigating 4-legged Robot in Rough Terrain," 2020 59th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE), Chiang Mai, Thailand, 2020, pp. 1410-1415, doi:10.23919/SICE48898.2020.9240424. [7] C. E. López Rodríguez and Y. L. Vargas Castiblanco, “Importancia de los procesos de automatización en el sector agrícola colombiano,” ID EST – Revista Investigación, Desarrollo, Educación, Servicio y Trabajo, vol. 4, no. 2, p. 4, 2024. https://revista.fundes.edu.co/index.php/revista/article/view/264. [8] Desarrollo de la agricultura colombiana. Fedesarrollo, 2014. [9] Bellicoso, C. D., Bjelonic, M., Wellhausen, L., Holtmann, K., Günther, F., Tranzatto, M., . & Hutter, M. (2018). Advances in real‐world applications for legged robots. Journal of Field Robotics, 35(8), 1311-1326. [10] C. Quail, E. Emonot–de Carolis and F. Auat Cheein, "Legged Robots in the Agricultural Context: Analysing Their Traverse Capabilities and Performance," IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society, Singapore, Singapore, 2023, pp. 01-07, doi:10.1109/IECON51785.2023.10312233. [11] “Development of a quadruped robot platform for optimizing wheat and corn field for phenotyping”. University of Minnesota driven to discover. https://conservancy.umn.edu/items/69f6a205-2789-4095-8c6d-df2e227bf462.com [12] M. F. Silva y J. A. Tenreiro Machado, “A Historical Perspective of Legged Robots”, J. Vib. Control, vol. 13, n. º 9-10, pp. 1447–1455, septiembre de 2007. https://doi.org/10.1177/1077546307078276 [13] Q. Li, F. Cicirelli, A. Vinci, A. Guerrieri, W. Qi y G. Fortino, “Quadruped Robots: Bridging Mechanical Design, Control, and Applications”, Robotics, vol. 14, n. º 5, pp. 5–8, abril de 2025. https://doi.org/10.3390/robotics14050057 [14] M. Aguilera Hernández, M. Bautista y J. Iruegas, “Diseño y Control de Robots Móviles”, Asoc. Mex. Mecatronica AC., pp. 1–6, 2003. [15] J. M. Robles Atuesta. “Diseño y prototipado del mecanismo de locomoción para un robot cuadrúpedo”. Universidad de los Andes Colombia. https://hdl.handle.net/1992/45035 [16] J. Fu y F. Gao, “Dynamic stability analyzes for a parallel–serial legged quadruped robot”, Int. J. Adv. Robotic Syst., vol. 19, n. º 5, pp. 3–5, septiembre de 2022. https://doi.org/10.1177/17298806221132081 [17] J. Li, J. Wang, S. X. Yang, K. Zhou y H. Tang, “Gait Planning and Stability Control of a Quadruped Robot”, Comput. Intell. Neurosci., vol. 2016, pp. 1–13, 2016. https://doi.org/10.1155/2016/9853070 [18] Q. Cong et al., “Stability Study and Simulation of Quadruped Robots with Variable Parameters”, Appl. Bionics Biomechanics, vol. 2022, pp. 1–9, enero de 2022. https://doi.org/10.1155/2022/9968042 [19] P.-B. Wieber, R. Tedrake y S. Kuindersma, “Modeling and Control of Legged Robots,” en Springer Handbook of Robotics, 2ª ed., B. Siciliano y O. Khatib, eds., Springer, 2016, pp. 1213–1223. https://doi.org/10.1007/978-3-319-32552-1_48. [20] R. Zwetsloot. “Control servos with CircuitPython and Raspberry Pi”. Raspberry Pi Official Magazine. https://magazine.raspberrypi.com/articles/control-servos-circuitpython-raspberry-pi?.com [21] C. Bell, Beginning MicroPython with the Raspberry Pi Pico. Berkeley, CA: Apress, 2022. https://doi.org/10.1007/978-1-4842-8135-2 [22] Automacion, “Servomotores: control, precisión y velocidad”, AADECA, vol. 4, p. 2, 2017. [23] J. Kim, T. Kang, D. Song y S.-J. Yi, “Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot”, Appl. Sci., vol. 11, n. º 9, p. 3762, abril de 2021. Accedido el 15 de julio de 2025. https://doi.org/10.3390/app11093762 [24] E. Garcia, P. González-de-Santos y J. Estremera, Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots. Springer, 2006. [25] Z. Gacovski, Ed., Mobile Robots - Current Trends. InTech, 2011. https://doi.org/10.5772/2305 [26] G. Raghavendra, B. B. V. L. Deepak y M. Gupta, Eds., Recent Advances in Mechanical Engineering, Volume 1. Singapore: Springer Nature Singap., 2024. https://doi.org/10.1007/978-981-97-0918-2 [27] Z. Y. Du y B. Liu, Advanced Mechanical Engineering. Trans Tech Publ. LTD, 2010. https://doi.org/10.4028/b-v26glh [28] 東京バード. (2021, 12 de julio). Arduinoで動かす4足歩行ロボット製作ノート！Arduino学習に便利なロボくんなので使って下さい！【STLデータ公開】. ぶらり＠web走り書き. https://burariweb.info/electronic-work/4legged-waking-robot-production-notes.html [29] M. Stefik and D. G. Bobrow, “Object-Oriented Programming: Themes and Variations”, AIMag, vol. 6, no. 4, p. 40, Dec. 1985. https://doi.org/10.1609/aimag.v6i4.508; https://revistas.udistrital.edu.co/index.php/visele/article/view/23790
Availability:
https://revistas.udistrital.edu.co/index.php/visele/article/view/23790
Rights:
http://creativecommons.org/licenses/by-nc/4.0
Accession Number:
edsbas.42BDA5F4
Database:
BASE

Weitere Informationen

Agricultural robots with wheels have contributed significantly to agriculture, generating interest in developing robots with improved maneuverability in crop fields where wheels do not work well. This has led to the development of legged mobile robots as a viable alternative to wheeled robots, and for this reason, a study group at the Francisco José de Caldas Distrital University in Colombia has been developing a small-scale quadruped robot in order to examine its maneuverability capabilities in difficult terrain. In this paper, the corresponding robot and its results are described. Using 3D printing, we developed a robot structure that could accommodate eight servomotors. Using the micropython programming language, we programmed a Raspberry Pico-W microcontroller as the control unit. Thanks to a graphical user interface developed in HTML, a quadruped robot could be controlled remotely from a computer or even a mobile phone. As reported in the results, our quadruped robot approach has demonstrated promising results in its maneuverability on off-road soils, opening the possibility of developing autonomous quadruped robots for agricultural use. ; Los robots agrícolas con ruedas han contribuido significativamente a la agricultura, generando interés en el desarrollo de robots con mayor maniobrabilidad en campos de cultivo donde las ruedas no son adecuadas. Esto ha impulsado el desarrollo de robots móviles con patas como una alternativa viable a los robots con ruedas. Por esta razón, un grupo de estudio de la Universidad Distrital Francisco José de Caldas (Colombia) ha estado desarrollando un robot cuadrúpedo a pequeña escala para examinar su capacidad de maniobrabilidad en terrenos difíciles. En este artículo, se describen el robot correspondiente y sus resultados. Mediante impresión 3D, desarrollamos una estructura robótica que puede alojar ocho servomotores. Utilizando el lenguaje de programación MicroPython, programamos un microcontrolador Raspberry Pico-W como unidad de control. Gracias a una interfaz gráfica de ...