The development of multisensor integrated quadruped pet robot

The purpose of this paper is to improve our previous design about pet robot and to develop a new pet robot system for increasing the efficiency of processing information. The new control system of our pet robot has discrete structure and operates by a synchronous sequential logic, a multisensor fusion algorithm and rule-based algorithms. At first, we completely introduce the new system structure that consists of a driver subsystem, a sensor subsystem, and a central control unit. The driver subsystem controls the movements and motions; the sensor subsystem applies weight function method and rule-based algorithms to integrate the sensors output information; and the central control unit use synchronous sequential logic to make final decision for controlling the pet robot. Finally, we show the crawl gait and trot gait that are faster and more stable than our previous design and introduce the function of avoiding obstacle.