Abstract
In this paper a programming for the walking of an electropneumatic biped robot is reported in terms of walking strategy and Grafcet instructions by using the capabilities of the electropneumatic facilities. A suitable mechanical design with low-cost components has been useful for an easy programming of a commercial PLC in a digital environment. The electropneumatic actuation has been obtained by commercial linear and rotative pneumatic cylinders and the ground contact of a foot has been ensured by suction-cups. The elementary actions for the walking in straight and turn modules have been analyzed to obtain useful subroutines for PLC programming in form of Grafcet flowcharts and then Ladder Diagram instructions. Any walking path can be easily programmed by assembling the proposed straight and turn modules in a suitable sequence
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