Design of a Legged Walking Robot with Adjustable Parameters

Abstract

In the past decades, an extensive research has been focused on legged walking robots. One of the most attractive trends in the design of walking robots is the development of biped robots with reduced number of degrees of freedom. This paper deals with a new solution of a legged walking mechanism with reduced number of degrees of freedom. It consists of a driven cam system mounted on the body frame and connected with feet via pantograph mechanisms. The introduced adjustable parameters allow one to generate two different steps with variable heights as well as allow the robot to climb stairs. The efficiency of the suggested design principle of the legged walking robot is illustrated by numerical simulations carried out via ADAMS software.