Abstract
The study aimed to develop a walking mobile robot and model its four-legged gait. At first, a review of existing structures was conducted and then the robot’s purpose and design parameters were specified. On this basis, the kinematic structure and the geometry of the robot’s legs were determined. After that, a numerical model of the quadruped robot was built in MD Adams. Mechanical structure of construction was designed and relevant drawings of individual parts were made using Inventor. General algorithm of four-legged gait used for this robot was specified. Simulations of the model’s actions in MD Adams were performed to determine the kinematic and dynamic properties of the movement. Among others, walking on wheels and on feet, using the lateral surfaces of wheels, were examined and results have been presented.
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Olinski, M., Ziemba, J. (2014). Hybrid Quadruped Robot – Mechanical Design and Gait Modelling. In: Petuya, V., Pinto, C., Lovasz, EC. (eds) New Advances in Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 17. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7485-8_23
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DOI: https://doi.org/10.1007/978-94-007-7485-8_23
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-7484-1
Online ISBN: 978-94-007-7485-8
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