Prototype Model of Walking Robot

被引：14

作者：

Mikolajczyk, Tadeusz ^{[1
]}

Fas, Tomasz ^{[1
]}

Malinowski, Tomasz ^{[1
]}

Romanowski, Lukasz ^{[1
]}

机构：

[1] Univ Technol & Life Sci, Dept Prod Engn, PL-85876 Bydgoszcz, Poland

来源：

INDUSTRIAL AND SERVICE ROBOTICS | 2014年 / 613卷

关键词：

mobile robot; walking robot; center of gravity; kinematical analysis;

D O I：

10.4028/www.scientific.net/AMM.613.21

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The purpose of this paper is to elaborate not on the bionic pattern of walking robot. Our own simple idea of 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs was made using vertical moved legs with rotary foot and additional controlled mass. In this paper, based on former idea, prototype model for only flat surface walking task 3 DOF were presented. Parts of the robot are moving thanks to servo motors. The paper contains kinematics and centre of gravity analysis, presentation of robot and its control system made using Pololu controller. Conducted experiments confirmed presented idea.

引用

页码：21 / 28

页数：8

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