Diseño e implementación de un robot cuadrúpedo para competencias con control autónomo o manual mediante una aplicación móvil

Abstract

This thesis presents the design and implementation of a quadruped robot for competitions, designed to operate in both autonomous and manual control modes via a mobile application. The proposal addresses the lack of quadruped robots in the robotics club of Universidad Politécnica Salesiana, which limits their participation in national and international events. Through the design and development of this project, the goal is to explore and promote knowledge in mobile robotics, artificial intelligence, and dynamic control. The robot's development was carried out in several stages: structural design using CAD 3D software, fabrication of components through 3D printing, integration of electronic components such as the ESP32 microcontroller and the Grove AI Vision V2 module, programming of algorithms for autonomous navigation and remote control, and the development of a mobile application serving as a user interface. The project employed experimental and investigative methodologies, conducting tests to ensure system stability, maneuverability on uneven terrains, and the accuracy of vision and control algorithms. The results demonstrate that the proposed design meets competition requirements, highlighting its adaptability to different environments and its efficiency in executing specific tasks. This work not only contributes to the advancement of competitive robotics but also inspires new research in industrial, educational, and rescue applications, solidifying quadruped robotics as a versatile and promising solution.