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The aim of the project was to design and build a four legged walking robot, quadruped, that can traverse easily on uneven terrains. I carried out the kinematic and dynamic analysis of the quadruped. Designed a control scheme for controlling the trajectory and position of the leg on uneven terrain. Inspired by the locomotion of cat in swiftly changing direction, I investigated the use of tail in the development of efficient gaits for the static walking of quadruped on uneven terrain.

Link for the video: https://www.youtube.com/watch?v=rv9PnKd3nqU