Abstract
Walking machines are special examples of mobile robots performing the discrete locomotion. Here the motion path is not continuous but consists of separated footprints. The majority of walking machines take biological locomotion systems as the templates, and include two, four, or six legs with animal like posture. Up till now many multi-legged robots have been built; some of them are very advanced, with a great number of sensors and complex motion abilities, and some are very simple considering their kinematics as well as the control systems. The overview of design approaches with the descriptions of existing walking machines with their parameters can be found in several references and is available on the Internet . e.g. [3, 4, 12, 13, 14] . therefore we shall not include it in this paper. Many works are devoted to control systems and motion synthesis methods, e.g. [1, 2, 5, 7, 8, 11, 14]. Walking machines are mainly actuated by electric motors. In simple prototypes servomotors with built-in feedback are used. It is not possible to influence the revolution speed in servomotors. The motion range of servomotors is usually limited to 90° or 180°; this must be considered in leg design and in motion synthesis. Despite the above disadvantages there exists a group of servo-controlled legged robots with complex motion abilities. The examples are small humanoidal robots or robotic “animals” available in the market. Servomotors are light, small, easy to mount and control. In this paper we introduce two simple, educational walking robots. The robots with their control systems were designed and built by students under professional supervision.
This work was supported by IAAM statutory funds.
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Zielińska, T., Chmielniak, A., Jańczyk, L. (2007). Educational Walking Robots . In: Kozłowski, K. (eds) Robot Motion and Control 2007. Lecture Notes in Control and Information Sciences, vol 360. Springer, London. https://doi.org/10.1007/978-1-84628-974-3_29
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DOI: https://doi.org/10.1007/978-1-84628-974-3_29
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