TWO-LEGGED ROBOT CONCEPTS

MM Science Journal, October 2022

DOI : 10.17973/MMSJ.2022_10_2022091

LUKAS LESTACH¹
MICHAL KELEMEN¹
TATIANA KELEMENOVA¹
IVAN VIRGALA¹
LUBICA MIKOVA¹
ERIK PRADA¹
DARINA HRONCOVA¹
MARTIN VARGA¹
PETER JAN SINCAK¹
TOMAS MERVA¹

¹Technical University of Kosice, Faculty of Mechanical Engineering, Kosice, SK

Keywords: gripper | Robot | actuator | Kinematics | Simulation

Abstract

The article deals with the concepts of a two-legged walking robot. Three kinematics concepts are proposed in order to achieve the lowest possible number of actuators and the best possible energy efficiency. Walking cycle algorithms are also proposed. These concepts have been assessed and evaluated in several respects in order to select the optimal kinematic concept.

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