CHIGLU: A Modular Hardware for Stepper Motorized Quadruped Robot—Design Approach and Analysis
Bio-engineered robots are rapidly advancing due to the maneuverability they offer in navigating uneven terrains, driving advancement in electrical systems for robot control. This study presents a design approach, analysis, and fabrication of a compact Printed Circuit Board (PCB) as the carrier board...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2025-06-01
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| Series: | MethodsX |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2215016125001165 |
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| Summary: | Bio-engineered robots are rapidly advancing due to the maneuverability they offer in navigating uneven terrains, driving advancement in electrical systems for robot control. This study presents a design approach, analysis, and fabrication of a compact Printed Circuit Board (PCB) as the carrier board, mounting low-cost motor drivers and a widely available microcontroller unit capable of controlling twelve stepper motors. The primary goal is to create a space-constrained, densely populated double-layer circuit board design yet an efficient hardware solution for stepper motorized quadruped robots. This research contributes significantly to stepper motor control systems for multi-axis applications in bio-inspired robots, offering a compact, reliable, and cost-effective hardware solution.Key methods include: • The development of a modular carrier board with swappable peripherals designed to meet power budget requirements and optimized through comprehensive design analysis • Conducting a PDN analysis for power distribution reliability and hardware testing. |
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| ISSN: | 2215-0161 |