This repository is the documentation of 4 legged robot using pneumatics along with LQR implementation in the robocon competition 2018-19.
4 legged quadrapuled robot, based on the stm32f407 micro-controller(ARM based controller), which uses a LQR control architecture. LQR controller is implemented to control pnuematic touch down, height during flight and forward velocity. Also we have use IMU sensor for pitch and roll control. We have used a camera for autonomous locomotion.
Team Name: Team KJSCE Robocon | Fifth prize winner at National Level Robocon Robotics Competition 2018-19 conducted by IIT Delhi. Also won a springer award of 200 euros
- code - The entire firmware with all the libraries
- datasheets - Contains all the datasheets and references
- images - Images of the robot and the arena
- report - Documentation on the working of the robot and all the task submissions
- schematics - Hardware schematic of the robot and the joystick controller
