International Research Journal of Engineering and Technology (IRJET)
e-ISSN: 2395-0056
Volume: 12 Issue: 12 | Dec 2025
p-ISSN: 2395-0072
www.irjet.net
DESIGN AND DEVELOPMENT OF QUADRA LEGGED ROBOT FOR SMART MOBILITY AND OBSTACLE NAVIGATION Poorna Chandra Reddy S1, Sabha Siddiqua N2, Vardhan V3 Dr. Mohamed Saleem4 123Student, Dept. of Robotics and Artificial Intelligence, Bangalore Technological Institute, Bangalore, India 4Professor and Head of Department, Dept. of Robotics and Artificial Intelligence, Bangalore Technological
Institute, Bangalore, India ---------------------------------------------------------------------***--------------------------------------------------------------------functioning the camera will be kept turned ON for live Abstract - This project presents the design and development streaming and recording the video.
of a quadra legged spider robot designed for smart mobility and obstacle navigation on rough surfaces. The robot uses a stable mechanical body structure and servo based joint for legs and a microcontroller to control the locomotion. Ultrasonic sensor used in this project enables obstacle detection and navigate back to its position while moving and also an Bluetooth camera fixed for live tracking and controlling. The system for this project was built through different stages like designing, prototyping, programming, and testing. Results showed that the robot can walk smoothly on irregular paths and adjust its moments when obstacle appears. This work demonstrates the usefulness of four legged robots in environments where wheeled robots cannot reach in some environments and this provides a foundation for future improvements.
This work shows how a quadra legged robots can be useful for rescue missions, surveillance, rough terrain exploration and educational purposes which helps the students to learn and understand how the basic leg moments of a robot work. Overall, the project highlights how mechanical design, electronics, and programming come together to create a stable and flexible spider like robot.
2. LITERATURE REVIEW Previous studies on quadra legged robots show that legged systems can move better on uneven surfaces compared to wheeled robots. Many researchers have used motors, basic gait patterns and sensors to improve walking stability and obstacle detection. However, most of these designs are either expansive or complex for beginners to understand and observed the main thing in which there is no camera module integrated. To address this a simple lost cost models have been developed for education but they often lack smooth moment or smart sensing. This project Builds on these ideas by creating an affordable Quadra legged robot with servo based legs and ultrasonic sensing to achieve stable walking and basic obstacle avoidance.
Key Words: Quadra legged robot, Spider robot, Servo based joints, Ultrasonic sensor, Obstacle detection, Locomotion, Rough surface navigation.
1. INTRODUCTION This project involves the design and development of a quadra legged spider robot that can walk smoothly and avoid obstacles on uneven surfaces. Unlike wheeled robots this legged robots this legged robot can move over rough ground, climb small obstacles and reach places where wheels cannot work. The robot is also integrated with an small Bluetooth camera module that helps to record and share the live streaming to the operator. The robot has four legs powered by servo motors and microcontroller that helps in controlling the moments. Sensors are used to detect obstacles allowing the robot to change its path and prevent collisions.
3. SYSTEM DESIGN The system design of the quadra legged robot integrates both mechanical and electronic components to achieve efficient movement and control. The mechanical design focuses on lightweight, stable structure with a 3 degree of freedom legs for smooth walking on uneven surfaces. The electronic design includes servo motors, sensors and a control module that enables to control the moment and functions of the robot. Together these designs ensure the robot functions with maintaining good balance, flexibility in various environments.
The project includes designing the leg structure building the electronic system and programming for different walking patterns and mainly focused on programming the leg moment part where that must like a real spider. The robot can perform basic actions such as walking forward, turning left and right and then stopping while the commands are received and when the auto mode is turned ON it automatically starts avoiding the obstacles and in the overall
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3.1 Mechanical Design The robot is developed by using a lightweight body structure for good stability and mobility. Its four legs with each lags of
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