Main Catalog Mechanical Engineering and Machine Science Robots, Mechatronics, and Robotic Systems

Development of a training walking mobile robot

Authors: Petrov N.V.
Published in issue: #9(38)/2019
DOI: 10.18698/2541-8009-2019-9-520
Category: Mechanical Engineering and Machine Science \| Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: walking robot, training robot, kinematic synthesis, gait, inverse kinematics problem, calculation of drives, motion algorithm, 3D modeling, MATLAB Simulink
Published: 10.09.2019

The article is devoted to the development of a training six-legged walking mobile robot equipped with a camera + range sensor system. The problem of kinematic synthesis has been solved, i.e. the choice of body and limbs size, as well as the inverse kinematics problem for the robot and its limbs in order to move in one of the existing standard gaits. Limb drives and sensor systems have been developed and calculated. The drive control board and structural elements have been developed. A 3D model of the robot was built in the Solid Works program, and a robot model in the MATLAB Simulink program was also proposed. The model worked out an obstacle avoidance algorithm.

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